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A general method for model-based object recognition in occluded scenes is presented. It is based on geometric hashing. The method stands out for its efficiency. We describe the general framework of the method and illustrate its applications for various recogni- tion problems both in 3-D and 2-D. Special attention is given to the recognition of 3-D objects in occluded scenes from 2-D gray scale images. New experimental results are included for this important case.
Lamdan et al. (Wed,) studied this question.