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Object Recognition from Local Scale-Invariant Features

Object Recognition from Local Scale-Invariant FeaturesDavid G. LoweComputer Science DepartmentUniversity of British ColumbiaVancouver, , V6T 1Z4, of the International Conference onComputer Vision,Corfu (Sept. 1999)An Object Recognition system has been developed that uses anew class of Local image Features . The Features are invariantto image scaling, translation, and rotation, and partially in-variant to illumination changes and affine or 3D Features share similar properties with neurons in in-ferior temporal cortex that are used for Object recognitionin primate vision. Features are efficiently detected througha staged filtering approach that identifies stable points inscale space.

template matching. While very effective for certain engi-neered environments, where object pose and illumination aretightlycontrolled,templatematchingbecomes computa-tionallyinfeasible when object rotation, scale, illumination, and 3D pose are allowed to vary, and even more so when dealing with partial visibilityand large model databases.

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