Recognition and pose estimation of unoccluded three-dimensional objects from a two-dimensional perspective view by banks of neural networks

This paper describes a neural network (NN) based system for recognition and pose estimation of an unoccluded three-dimensional (3-D) object from any single two-dimensional (2-D) perspective view, The approach is invariant to translation, orientation, and scale. First, the binary silhouette of the object is obtained and normalized for translation and scale. Then, the object is represented by a set of rotation invariant features derived from the complex orthogonal pseudo-Zernike moments of the image. The recognition scheme combines the decisions of a bank of multilayer perceptron NN classifiers operating in parallel on the same data. These classifiers have different topologies and internal parameters, but are trained on the same set of exemplar perspective views of the objects. Next, two pose parameters, elevation and aspect angles, are obtained by a novel two-stage NN system consisting of a quadrant classifier followed by NN angle estimators. Performance is tested on clean and noisy data bases of military ground vehicles. Comparative studies with three other classifiers (a single NN, the weighted nearest-neighbor classifier, and a binary decision tree) are carried out.