Recognition Of 3D Objects

A method of recognising a 3D object at a scene, comprising the steps of:

• providing an array of cameras that are spaced horizontally from one another such that the cameras provide multiple viewpoints of a scene with overlapping fields of view;
• for each of the cameras, generating a sequence of images of a 3D object at the scene, normalising each of those images to a canonical view, selecting one or more best normalised image for that camera and passing the or each selected image to a feature extraction processor;
• extracting feature data from each of the selected images using a feature extraction processor;
• comparing the extracted feature data of each of the selected images with stored, corresponding feature data of known 3D objects using a recognition processor;
• and
• outputting a recognition result when the extracted feature data of at least one of the selected images corresponds to stored, corresponding feature data of at least one of the known 3D objects.