Object recognition using cylindrical harmonic filter.
We present the cylindrical harmonic filter for three-dimensional (3D) discrete correlation between range data. The filter guarantees invariance of the correlation peak intensity under target rotation around z-axis. It can be considered a harmonic decomposition, in cylindrical coordinates, of the 3D Fourier spectrum of the target. Some simulation results confirm the in-plane rotation invariance and the discrimination of the filter.
Guerrero Bermúdez
Jáder
J