3-D localization and feature recovering through CAD-based stable pose calculation

CAD-based computer vision methodologies have been used in practice for simplifying the process of geometric inspection. In general, it can be assumed that a three-dimensional (3-D) object lying on a planar surface has a finite number of stable poses. These poses precisely determine all feasible positions and orientations of an object, and can be utilized for localization and accurate shape matching. In this paper, procedures are proposed to efficiently determine all stable poses of piecewise smooth curved 3-D objects, and to perform 3-D localization and feature recovering. The stable pose determination process is based on a faceted approximation of the associated CAD model built by a CAD solid modeling package. Localization and feature recovering calculations are derived from Lowe's method. Several real 3-D objects are presented to illustrate the proposed methodology.