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System for recognizing three-dimensional objects

  • US 4,654,872 A
  • Filed: 07/24/1984
  • Issued: 03/31/1987
  • Est. Priority Date: 07/25/1983
  • Status: Expired due to Term
First Claim
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1. A process for recognizing a three-dimensional object comprising the steps of:

  • receiving images of the object from at least three directions,extracting feature points from each of the at least three images obtained,forming a first set of feature points on an epipolar line formed on the second image by a selected feature point on the first image,forming a second set of feature points on an epipolar line formed on the third image by a selected feature point on the first image or by a feature point corresponding thereto, andselecting from the two sets of feature points a pair of feature points corresponding to each other and satisfying a restricting condition which is determined by the relationship of the image receiving directions.

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