Shape-based recognition of wiry objects

Owen Carmichael, Martial Hebert

Research output: Contribution to journalArticlepeer-review

31 Scopus citations


We present an approach to the recognition of complex-shaped objects in cluttered environments based on edge information. We first use example images of a target object in typical environments to train a classifier cascade that determines whether edge pixels in an image belong to an instance of the desired object or the clutter. Presented with a novel image, we use the cascade to discard clutter edge pixels and group the object edge pixels into overall detections of the object. The features used for the edge pixel classification are localized, sparse edge density operations. Experiments validate the effectiveness of the technique for recognition of a set of complex objects in a variety of cluttered indoor scenes under arbitrary out-of-image-plane rotation. Furthermore, our experiments suggest that the technique is robust to variations between training and testing environments and is efficient at runtime.

Original languageEnglish (US)
Pages (from-to)1537-1552
Number of pages16
JournalIEEE Transactions on Pattern Analysis and Machine Intelligence
Issue number12
StatePublished - Dec 2004
Externally publishedYes


  • Classifier design and evaluation
  • Edge and feature detection
  • Object recognition
  • Shape

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Artificial Intelligence
  • Computer Vision and Pattern Recognition


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