Abstract: This paper describes a new approach to the classical machine vision problem of 3-D object recognition and pose determination. The process begins by extracting contour edges from a given patterned-light image of an unknown object and postulates an initial object line structure. This line structure is used to guide placement of a set of small surface-attribute- determining windows, called `surface-attribute probes' (SAPs), over the image to determine whether the areas being examined show the presence of one or more intersecting planar or curved regions. The resulting information is used to refine the object line structure, i.e., to determine all face intersections and characterize each face. The process is repeated until no further refinement in region segmentation and surface-attribute determination appears feasible. !9
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