Determining pose of curved 3-D objects based on 2-D contour matching

This paper addresses the problem of determining the 3-D pose of a curved rigid object from a single 2-D image. The surface of the object are assumed to be modeled with several patches, each of which be expressed by an implicit polynomial. Moreover, the sensed data are assumed to be the coordinates of those points that are on the image contours. Based on the idea of contour matching, the algorithm proposed computes the parameters defining the pose of the object, and achieves the segmentation of the sensed data and the recognition of the object.