Common-Frame Model for Object Recognition

A generative probabilistic model for objects in images is presented. An object consists of a constellation of features. Feature appearance and pose are modeled probabilistically. Scene images are generated by draw- ing a set of objects from a given database, with random clutter sprinkled on the remaining image surface. We study the case where features from the same object share a common reference frame. Moreover, parameters for shape and appearance den- sities are shared across features.