Tridimensional invariant correlation based on phase-coded and sine-coded range images

New methods for recognition of range images based on correlation are presented. The techniques allow the detection of a range image of a tridimensional pattern whatever its position along the x, y and z axes. The first method uses the phase-coding of the range image in order to obtain invariance along the z-axis in the correlation process. The second method uses the sine-coding of the range image in order to obtain better discrimination than that obtained with phase-coding. The third method is a hybrid one that makes use of sine-coding for the input scene and phase-coding for the reference image, so both the full translation invariance and high discrimination abilities are obtained. Compute…