Determining the 3-D Pose of a Flexible Object Overlapped Complicatedly by Itself
A 3-D pose determining method for a flexible object which is overlapped complicatedly by itself is presented. By transforming the stereo matching problem of images into the matching of two curvature representations, the 3-D pose of a flexible object is able to be determined. In order to get two curvature representations of an object, the skeletonized images must be coded as chaincodes. Three basic types of self overlappings are introduced and analyses of various complex situations, based on them are discussed. Two dividing principles to code a skeletonized image as short chaincodes and the dividing method in cases that the dividing principles do not work are described. Three of image features and the statistical data of curvature representations are used in the matching process of two sets of chaincodes. Experimental results with real flexible objects show the effectiveness of the method presented.