A system for model-based recognition of articulated objects

This paper presents a model-based matching technique for recognition of articulated objects (with two parts) and the poses of these parts in SAR (Synthetic Aperture Radar) images. Using articulation invariants as features, the recognition system first hypothesizes the pose of the larger part and then the pose of the smaller part. Geometric reasoning is carried out to correct identification errors. The thresholds for the quality of match are determined dynamically by minimizing the probability of a random match. Results are presented using SAR images of three articulated objects. The system performance is evaluated with respect to identification performance, accuracy of estimates for the poses of the object parts and noise.