Analysis of 3-D scene with partially occluded objects for robot vision

Abstract

A vision system based on the attributed hypergraph representation (AHR) and monomorphism is presented. The graph representation consists of the structural descriptions of the objects in a scene and their interrelations. It renders all structural information explicit and symbolic. A hypergraph monomorphism algorithm is then used to compare the AHR of objects in the scene with a set of complete AHRs of prototypes. It enables objects which may be partially occluded by each other to be distinguished.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>