‘“Where Is my cup?” - Fully automatic detection and recognition of textureless objects in real-world images

In this work, we propose a new method for fully automatic detection and recognition of textureless objects present in complex visual scenes. While most approaches only deal with shape matching, our approach considers objects both in terms of low-level features and high-level information, and represents objects' view-based templates as trees. Multi-level matching increases algorithm robustness, while the new tree structure of the template reduces its computational burden. We have evaluated our algorithm on the CMU dataset consisting of objects under arbitrary viewpoints and in cluttered environment. Our proposed approach has shown excellent performance, outperforming state-of-the-art methods.