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A Perceptual Grouping Hierarchy for Appearance-Based 3d Object Recognition
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@TechReport{Selinger:TR98,
  author = 	 {Andrea Selinger},
  title = 	 {A Perceptual Grouping Hierarchy for Appearance-Based 3d Object Recognition},
  institution =  {Comp. Sci. Dept. University of Rochester},
  year = 	 {1998},
  number = 	 {690},
  address = 	 {Rochester NY},
  month = 	 {May},
  abstract =    {
In this report we consider the problem of 3D object recognition, and the role that perceptual 
grouping processes must play. In particular, we argue that a single level of perceptual grouping 
is inadequate, and that reliance on a single level of grouping is responsible for the specific 
weaknesses of several well-known recognition techniques. Instead, we argue that recognition must 
utilize a hierarchy of perceptual grouping processes, and describe an appearance-based system that 
uses four distinct levels of perceptual grouping, the upper two novel, to represent 3D objects in 
a form that not only allows recognition, but reasoning about 3D manipulation of a sort that has 
been supported in the past only by 3D geometric models.  }
}