3D manufacturing primitive CAD-based object recognition

This paper describes a 3-D recognition system for objects designed with a manufacturing primitive-based CAD. Within the recognition system, objects are modelled as organized compositions of instantiated manufacturing primitives. Since these primitives have a higher semantic level than the traditional entities used in object modeling (surfaces, edges, and so on), the burden of recognition is shifted from matching the scene to the objects database to matching the scene to the primitives database, which is usually significantly smaller. Consequently, set up time is reduced while recognition is faster. The paper reviews our approach To primitive and object modeling, primitive indexing, and pose estimation.