Volumetric Description of Three-Dimensional Objects for Object Recognition

Three-dimensional (3D) object representation and shape reconstruction play an important role in the field of computer vision. In this chapter, a parametric model is proposed as a coarse description of the volumetric part of 3D objects for object recognition. The parameterized part-based superquadric model is used as a volumetric parameter model. This superquadric model has the advantage that it can describe various primitive shapes using a finite number of parameters including translation, rotation, and global deformation. Shape recovery is performed by least square minimization of the objective function for all range points belonging to a single part of the object. The set of superquadric parameters representing each single part of the 3D object can then be obtained.