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Also, a hierarchical matching method to avoid search efforts for all possible attitudes of each model is proposed. Examples are described for three cases: 1) only a few surface normals are available; 2) all visible surface normals are available; and 3) range data are available. In all cases, efficient and flexible object recognition is realized by hierarchical matching based on three\u2010dimensional models.<\/jats:p>","DOI":"10.1002\/scj.4690170206","type":"journal-article","created":{"date-parts":[[2007,7,7]],"date-time":"2007-07-07T11:17:19Z","timestamp":1183807039000},"page":"51-58","source":"Crossref","is-referenced-by-count":0,"title":["Robot vision based on three\u2010dimensional model"],"prefix":"10.1002","volume":"17","author":[{"given":"Yoshiaki","family":"Shirai","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2007,3,21]]},"reference":[{"key":"e_1_2_1_2_2","unstructured":"M.Kobayashi S.TachiandT.Hasegawa. RD programs for advanced robot technology Proc. Int. Conf. on Advanced Robotics pp.39\u201350(1983)."},{"key":"e_1_2_1_3_2","doi-asserted-by":"publisher","DOI":"10.7210\/jrsj.1.4_244"},{"key":"e_1_2_1_4_2","unstructured":"N.Akiyama. 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