Generalized Hough Transform for 3D Object Recognition and Visualization in Integral Imaging

Object recognition is an automated image processing application of great interest in areas ranging from defect inspection to robot vision. In this regard, the Generalized Hough Transform is a well-established technique for the recognition of geometrical features even when they are partially occluded or corrupted by noise. In order to extend the original algorithm -aimed at detecting 2D geometrical features out of single images- we propose the Robust Integral Generalized Hough Transform which corresponds to the transformation under Generalized Hough Transform of an array of Elemental Images taken from a 3D scene in Integral Imaging capture. The proposed algorithm constitutes a robust approach to pattern recognition in 3D scenes that takes into account information obtained not only from the individual processing of each image of the array but also from the spatial restrictions arising from perspective shifts between images. The problem of global detection of a 3D object of given size, position and orientation is then exchanged under Robust Integral Generalized Hough Transform for a more easily solved maxima detection in an accumulation (Hough) space dual to the array of Elemental Images of the scene. Detected objects can then be visualized following refocusing schemes of Integral Imaging. Validation experiments for the detection and visualization of partially occluded three-dimensional objects are presented. To the best of our knowledge this is the first implementation of Generalized Hough Transform for 3D object detection in Integral Imaging.