Two-Dimensional, Model-Based, Boundary Matching Using Footprints

Alan Kalvin, Edith Schonberg, Jacob T. Schwartz, Micha Sharir

Research output: Contribution to journalArticlepeer-review


In this paper, we describe a technique for geometrically hash ing two-dimensional model objects. Used in conjunction with other methods for recognizing partially obscured and over lapping objects, this technique enables us to recognize over lapping, two-dimensional objects selected from large data bases of model objects without significant performance degradation when the database is enlarged. This technique is based on use of a synthetic attribute of an object, which we will call its footprint. Experimental results from databases of up to 100 objects are presented.

Original languageEnglish
Pages (from-to)38-55
Number of pages18
JournalInternational Journal of Robotics Research
Issue number4
StatePublished - Dec 1986
Externally publishedYes


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