Object recognition by three‐dimensional curve matching

Experimental results for the recognition of general curves in three‐space using registered range and intensity images are presented. the matching algorithm uses fast Fourier transforms to determine the least‐squares difference between sequences of points sampled at equal intervals along two piecewise linear approximations of curves in three‐space and returns the rotation and translation required to bring one of the curves into closest juxtaposition with the other. Performance of the algorithm is demonstrated by matching curves in three‐space which are the boundaries of regions of contrasting reflectivity on curved surfaces. the experiments use a recently developed range sensor which is able to generate a 512 × 460 × 12 bit range image (with registered intensity image) in 40 s.