Abstract

The determination of a three-dimensional object’s shape and orientation from its silhouettes is studied on the understanding that no a priori information about the object is known. The result of this study is an algorithm that could be suitable for incorporation into a robot’s vision system. The algorithm is based on a method for determining the orientation of an object from its two-dimensional projections. To overcome the reduced information of the silhouettes compared with that of two-dimensional projections, a self-consistency check is introduced. Numerical implementations of the algorithm confirm that it can generate usefully accurate estimates of the orientations and the shapes of technologically nontrivial objects.

© 1992 Optical Society of America

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