Introduction to Geometric Hashing and Real-Time Object Recognition

BAI Object Recognition Illustration

BAI independently derived the geometric hashing algorithm (for both the 2DOD and 3DOD cases). For an introduction to this approach, see "Geometric Hashing: An Overview", Wolfson et al, Computing in Science and Engineering, Vol. 4, 1997, pp 10-21.

Relevant Object Recognition Method AU publications include our BAI OR provisional [v1] - 28 Nov 2008 (App No. 2008906177), BAI OR provisional [v2] - 4 Jan 2009 (App No. 2009900010), BAI OR provisional [v3] - 17 Jan 2010 (App No. 2010900180), BAI OR provisional [v4(b)] - 14 Sept 2010 (App No. 2010904118), and BAI OR provisional [v5(b)] - 23 Sept 2010 (App No. 2010904309), along with our WIPO PCT 2011/088497.

We have freely published our method (and are not pursing the maintenance of intellectual property rights) such that all may gain the benefit from direct experience of our unique self-contained R&D program into computer vision, and witness the true power available to personal computing in this field.

These examples are designed primarily to illustrate the orientation invariance of the Baxter AI 2DOD/3DOD object recognition algorithm, however some information regarding the level of lighting and translation invariance can also be derived from these examples. The 3DOD object has been generated artifically using our RT (RayTracer) application, and the 2DOD object under test and its corresponding images (views) has been taken from the publicly available Amsterdam Library of Object Images (ALOI). Both "test" images (/object data) have been rotated by approximately 45% with respect to their original "trained" view in memory. Feature detection code has been provided by Heitger et al. and was developed at the Institute of Communications Technology, Image Vision Group (Swiss Federal Institute of Technology at Zurich, Switzerland).

2DOD Object Recognition Illustration

Source Version: 3a8b

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Source Version: 3a8b

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2.029500-0.0016001.210600
0.8019000.6896001.210600
0.801900-0.7028001.210600
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-0.409300-1.4185001.163400
-0.4270001.3916001.224000
26190
22220
22170
18190
18150
18240

DTBin = 1615161616151526192222

RTcube-3DOD003ViewIndex0ZoomIndex0FacingPoly3side1.rgb.train.ppm

DCT coefficients:

-111-2
000
-2-11
110
100
000
000
000
000
1-2000-2-1
16151616161515

Nearest Features (transformed):

2.006600-0.0032001.230900
0.7714000.6891001.230900
0.771400-0.7026001.230900
-0.426000-0.0161001.209300
-0.4494001.3890001.233700
-0.439700-1.4234001.180300
26190
22220
22170
18190
18240
18150

DTBin = 1615161616151526192222
origTrainDTBin = 1615161616151526192222 [same]

0.000
RTcube-3DOD100ViewIndex1ZoomIndex0FacingPoly0side2.rgb.test.ppm

DCT coefficients:

-111-3
-101
-2-11
110
100
000
000
000
000
1-3-101-2-1
16141516161515

Nearest Features (transformed):

1.6124002.1232001.210600
0.4034001.3999001.210600
1.6124000.7094001.210600
0.4242000.0082001.218700
1.633300-0.6973001.163400
-0.8157000.6810001.224000
25270
21240
25220
21200
25170
17220

DTBin = 1614151616151525272124

RTcube-3DOD003ViewIndex0ZoomIndex0FacingPoly3side2.rgb.train.ppm

DCT coefficients:

-111-3
-101
-1-11
110
100
000
000
000
000
1-3-101-1-1
16141516161515

Nearest Features (transformed):

1.5971002.1113001.230900
0.3860001.3776001.230900
1.5971000.6918001.230900
0.409600-0.0118001.209300
-0.8246000.6602001.233700
1.627500-0.7172001.180300
25270
21240
25220
21190
17220
25170

DTBin = 1614151616151525272124
origTrainDTBin = 1614151616151525272124 [same]

0.001
RTcube-3DOD101ViewIndex1ZoomIndex0FacingPoly1side0.rgb.test.ppm

DCT coefficients:

-110-2
-101
-201
110
000
000
000
000
000
0-2-101-20
16151516161516

Nearest Features (transformed):

-1.5928002.1322001.221400
-1.5928000.7233001.221400
-0.3795001.4064001.213200
-0.3877000.0267001.221400
0.8380000.7022001.157800
-1.601500-0.6919001.234800
14270
14220
18240
18200
22220
14170

DTBin = 1615151616151614271422

RTcube-3DOD005ViewIndex0ZoomIndex0FacingPoly5side0.rgb.train.ppm

DCT coefficients:

-110-2
-101
-201
110
000
000
000
000
000
0-2-101-20
16151516161516

Nearest Features (transformed):

-1.6105002.1197001.197700
-1.6105000.7038001.197700
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-0.4097000.0040001.201100
-1.624200-0.7034001.200200
0.8249000.6801001.197700
14270
14220
18240
18200
14170
22220

DTBin = 1615151616151614271422
origTrainDTBin = 1615151616151614271422 [same]

0.001
RTcube-3DOD101ViewIndex1ZoomIndex0FacingPoly1side1.rgb.test.ppm

DCT coefficients:

-111-2
-101
-1-11
110
000
000
000
000
000
1-2-101-1-1
16151516161515

Nearest Features (transformed):

0.4390001.3975001.221400
-0.7808000.6924001.221400
0.417800-0.0161001.213200
-0.780800-0.6995001.221400
0.417400-1.4226001.157800
-2.010400-0.0083001.234800
21240
17220
21190
17170
21150
13190

DTBin = 1615151616151521241722

RTcube-3DOD004ViewIndex0ZoomIndex0FacingPoly4side1.rgb.train.ppm

DCT coefficients:

-111-2
-101
-1-11
110
000
000
000
000
000
1-2-101-1-1
16151516161515

Nearest Features (transformed):

0.4105001.4044001.202300
-0.8128000.6915001.202300
0.386300-0.0147001.224000
-0.812800-0.6984001.202300
-2.035500-0.0052001.204800
0.393000-1.4246001.195300
21240
17220
21190
17170
13190
21150

DTBin = 1615151616151521241722
origTrainDTBin = 1615151616151521241722 [same]

0.000
RTcube-3DOD101ViewIndex1ZoomIndex0FacingPoly1side2.rgb.test.ppm

DCT coefficients:

-110-3
-101
-101
110
000
000
000
000
000
0-3-101-10
16141516161516

Nearest Features (transformed):

0.0267002.0401001.221400
-0.6731000.8174001.221400
0.7192000.8075001.213200
0.026700-0.3858001.221400
1.426000-0.4085001.157800
-1.383700-0.4066001.234800
20260
17220
22220
20180
24180
15180

DTBin = 1614151616151617222222

RTcube-3DOD004ViewIndex0ZoomIndex0FacingPoly4side2.rgb.train.ppm

DCT coefficients:

-110-3
-101
-101
110
000
000
000
000
000
0-3-101-10
16141516161516

Nearest Features (transformed):

-0.0019002.0361001.202300
-0.7008000.8047001.202300
0.6907000.7973001.224000
-0.001900-0.3967001.202300
-1.407400-0.4123001.204800
1.405600-0.4180001.195300
19260
17220
22220
19180
15180
24180

DTBin = 1614151616151617222222
origTrainDTBin = 1614151616151617222222 [same]

0.001
RTcube-3DOD102ViewIndex1ZoomIndex0FacingPoly2side1.rgb.test.ppm

DCT coefficients:

-111-2
-100
-2-11
110
000
000
000
000
000
1-2-100-2-1
16151516161515

Nearest Features (transformed):

1.4136000.4207001.179300
0.0047000.4084001.179300
0.698400-0.7986001.202900
-0.681400-0.8022001.210800
0.004700-2.0233001.179300
-1.4105000.4052001.192500
24210
20210
22170
17170
20130
15210

DTBin = 1615151616151524212217

RTcube-3DOD005ViewIndex0ZoomIndex0FacingPoly5side1.rgb.train.ppm

DCT coefficients:

-111-2
-100
-2-11
110
000
000
000
000
000
1-2-100-2-1
16151516161515

Nearest Features (transformed):

1.3960000.4063001.197700
-0.0198000.3926001.197700
0.672400-0.8145001.222900
-0.707900-0.8149001.201100
-1.4270000.3927001.200200
-0.019800-2.0430001.197700
24210
19210
22170
17170
15210
19130

DTBin = 1615151616151524212217
origTrainDTBin = 1615151616151524212217 [same]

0.001
RTcube-3DOD102ViewIndex1ZoomIndex0FacingPoly2side2.rgb.test.ppm

DCT coefficients:

-111-3
-101
-1-11
110
000
000
000
000
000
1-3-101-1-1
16141516161515

Nearest Features (transformed):

1.6218001.4275001.179300
0.4073000.7133001.179300
1.6111000.0140001.202900
0.417600-0.6782001.210800
1.621800-1.3934001.179300
-0.8172000.0037001.192500
25240
21220
25200
21170
25150
17200

DTBin = 1614151616151525242122

RTcube-3DOD005ViewIndex0ZoomIndex0FacingPoly5side2.rgb.train.ppm

DCT coefficients:

-111-3
-101
-1-11
110
000
000
000
000
000
1-3-101-1-1
16141516161515

Nearest Features (transformed):

1.6147001.4107001.197700
0.3958000.6902001.197700
1.599200-0.0084001.222900
0.404400-0.6996001.201100
-0.822500-0.0140001.200200
1.614700-1.4184001.197700
25240
21220
25190
21170
17190
25150

DTBin = 1614151616151525242122
origTrainDTBin = 1614151616151525242122 [same]

0.001
RTcube-3DOD103ViewIndex1ZoomIndex0FacingPoly3side0.rgb.test.ppm

DCT coefficients:

-112-1
000
-2-10
110
100
000
000
000
000
2-1000-2-1
17151616161515

Nearest Features (transformed):

-1.6056002.1244001.212800
-1.6056000.7138001.212800
-0.3922001.3958001.212800
-0.4225000.0038001.217700
-1.648500-0.6856001.162200
0.8201000.6781001.226100
14270
14220
18240
18200
14170
22220

DTBin = 1715161616151514271422

RTcube-3DOD000ViewIndex0ZoomIndex0FacingPoly0side0.rgb.train.ppm

DCT coefficients:

-112-1
000
-2-10
110
100
000
000
000
000
2-1000-2-1
17151616161515

Nearest Features (transformed):

-1.6142002.1304001.200600
-1.6142000.7249001.200600
-0.4051001.4103001.200600
-0.4280000.0190001.224800
-1.651200-0.6823001.196200
0.8184000.6977001.203100
14270
14220
18240
18200
14170
22220

DTBin = 1715161616151514271422
origTrainDTBin = 1715161616151514271422 [same]

0.000
RTcube-3DOD103ViewIndex1ZoomIndex0FacingPoly3side1.rgb.test.ppm

DCT coefficients:

-11-1-2
10-1
-111
110
000
000
000
000
000
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15151616151516

Nearest Features (transformed):

2.0238000.0083001.212800
0.7941000.6995001.212800
0.794100-0.6924001.212800
-0.4045000.0161001.217700
-0.4048001.4226001.162200
-0.425600-1.3975001.226100
26200
22220
22170
18200
18240
18150

DTBin = 1515161615151626202222

RTcube-3DOD000ViewIndex0ZoomIndex0FacingPoly0side1.rgb.train.ppm

DCT coefficients:

-11-1-2
10-1
-111
110
000
000
000
000
000
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15151616151516

Nearest Features (transformed):

2.0380000.0052001.200600
0.8153000.6984001.200600
0.815300-0.6915001.200600
-0.3837000.0147001.224800
-0.3905001.4246001.196200
-0.408000-1.4044001.203100
26200
22220
22170
18200
18240
18150

DTBin = 1515161615151626202222
origTrainDTBin = 1515161615151626202222 [same]

0.000
RTcube-3DOD103ViewIndex1ZoomIndex0FacingPoly3side2.rgb.test.ppm

DCT coefficients:

-110-3
10-1
-100
110
100
000
000
000
000
0-310-1-10
16141616151516

Nearest Features (transformed):

1.5994002.1256001.212800
0.3901001.3994001.212800
1.5994000.7102001.212800
0.3904000.0196001.217700
-0.8317000.7158001.162200
1.608200-0.6986001.226100
25270
21240
25220
21200
17220
25170

DTBin = 1614161615151625272124

RTcube-3DOD000ViewIndex0ZoomIndex0FacingPoly0side2.rgb.train.ppm

DCT coefficients:

-110-3
10-1
-100
110
100
000
000
000
000
0-310-1-10
16141616151516

Nearest Features (transformed):

1.6082002.1329001.200600
0.4006001.4137001.200600
1.6082000.7257001.200600
0.4011000.0335001.224800
-0.8273000.7255001.196200
1.622000-0.6902001.203100
25270
21240
25220
21200
17220
25170

DTBin = 1614161615151625272124
origTrainDTBin = 1614161615151625272124 [same]

0.001
RTcube-3DOD105ViewIndex1ZoomIndex0FacingPoly5side0.rgb.test.ppm

DCT coefficients:

-112-1
000
-2-10
110
100
000
000
000
000
2-1000-2-1
17151616161515

Nearest Features (transformed):

-1.6005002.1244001.219500
-1.6005000.7138001.219500
-0.3871001.3958001.214400
-0.4174000.0038001.219500
-1.643600-0.6856001.169100
0.8252000.6781001.222700
14270
14220
18240
18200
14170
22220

DTBin = 1715161616151514271422

RTcube-3DOD000ViewIndex0ZoomIndex0FacingPoly0side0.rgb.train.ppm

DCT coefficients:

-112-1
000
-2-10
110
100
000
000
000
000
2-1000-2-1
17151616161515

Nearest Features (transformed):

-1.6142002.1304001.200600
-1.6142000.7249001.200600
-0.4051001.4103001.200600
-0.4280000.0190001.224800
-1.651200-0.6823001.196200
0.8184000.6977001.203100
14270
14220
18240
18200
14170
22220

DTBin = 1715161616151514271422
origTrainDTBin = 1715161616151514271422 [same]

0.000
RTcube-3DOD105ViewIndex1ZoomIndex0FacingPoly5side1.rgb.test.ppm

DCT coefficients:

-111-2
10-1
-101
110
000
000
000
000
000
1-210-1-10
16151616151516

Nearest Features (transformed):

0.3932001.4127001.219500
-0.8163000.6868001.219500
0.392900-0.0026001.214400
-0.816300-0.6929001.219500
-2.0384000.0037001.169100
0.401300-1.4115001.222700
21240
17220
21190
17170
13200
21150

DTBin = 1615161615151621241722

RTcube-3DOD0012ViewIndex0ZoomIndex0FacingPoly12side0.rgb.train.ppm

DCT coefficients:

-111-2
10-1
-101
110
100
000
000
000
000
1-210-1-10
16151616151516

Nearest Features (transformed):

-0.8407000.6869001.201700
-0.840700-0.6936001.201700
0.366500-0.0015001.223700
0.3663001.4055001.248400
-2.068000-0.0008001.150600
0.380500-1.4172001.201700
17220
17170
21190
21240
13190
21150

DTBin = 1615161615151621241722
origTrainDTBin = 1615161615151621241722 [same]

0.001
RTcube-3DOD105ViewIndex1ZoomIndex0FacingPoly5side2.rgb.test.ppm

DCT coefficients:

-111-2
10-1
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110
100
000
000
000
000
1-210-1-2-1
16151616151515

Nearest Features (transformed):

-0.0191002.0368001.219500
-0.7063000.8049001.219500
0.6856000.8094001.214400
-0.019100-0.3915001.219500
-1.425800-0.3962001.169100
1.394700-0.4081001.222700
19260
17220
22220
19180
15180
24180

DTBin = 1615161615151517222222

RTcube-3DOD001ViewIndex0ZoomIndex0FacingPoly1side2.rgb.train.ppm

DCT coefficients:

-111-2
10-1
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110
100
000
000
000
000
1-210-1-2-1
16151616151515

Nearest Features (transformed):

0.0023002.0375001.233300
-0.6862000.8122001.233300
0.7034000.8176001.208600
0.002300-0.3843001.233300
-1.407900-0.3964001.229700
1.420900-0.4029001.186100
20260
17220
22220
20180
15180
24180

DTBin = 1615161615151517222222
origTrainDTBin = 1615161615151517222222 [same]

0.000
RTcube-3DOD109ViewIndex1ZoomIndex0FacingPoly9side0.rgb.test.ppm

DCT coefficients:

-112-1
000
-2-11
110
000
000
000
000
000
2-1000-2-1
17151616161515

Nearest Features (transformed):

-1.5752002.098400-1.252000
-1.5752000.697500-1.252000
-0.3705001.370200-1.252000
-0.384200-0.021000-1.197200
-1.619600-0.711600-1.202200
0.8500000.658300-1.205100
14260
14220
18240
18190
14170
22220

DTBin = 1715161616151514221824

RTcube-3DOD007ViewIndex0ZoomIndex0FacingPoly7side0.rgb.train.ppm

DCT coefficients:

-112-1
000
-2-11
110
000
000
000
000
000
2-1000-2-1
17151616161515

Nearest Features (transformed):

-1.6164002.128200-1.197600
-1.6164000.720500-1.197600
-0.4122001.394800-1.226200
-0.4258000.003400-1.197600
-1.653400-0.684600-1.193100
0.8160000.683600-1.204600
14270
14220
18240
18200
14170
22220

DTBin = 1715161616151514221824
origTrainDTBin = 1715161616151514221824 [same]

0.001
RTcube-3DOD109ViewIndex1ZoomIndex0FacingPoly9side1.rgb.test.ppm

DCT coefficients:

-11-1-2
10-1
-101
110
100
000
000
000
000
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15151616151516

Nearest Features (transformed):

1.9886000.003700-1.252000
0.7654000.686800-1.252000
0.765400-0.692900-1.252000
-0.442500-0.002600-1.197200
-0.4431001.412700-1.202200
-0.451300-1.411500-1.205100
26200
22220
22170
18190
18240
18150

DTBin = 1515161615151622222217

RTcube-3DOD006ViewIndex0ZoomIndex0FacingPoly6side1.rgb.train.ppm

DCT coefficients:

-11-1-2
10-1
-101
110
100
000
000
000
000
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15151616151516

Nearest Features (transformed):

2.018300-0.000800-1.235700
0.7900000.686900-1.235700
0.790000-0.693600-1.235700
-0.417100-0.001500-1.207400
-0.4179001.405500-1.232100
-0.430200-1.417200-1.184800
26190
22220
22170
18190
18240
18150

DTBin = 1515161615151622222217
origTrainDTBin = 1515161615151622222217 [same]

0.000
RTcube-3DOD109ViewIndex1ZoomIndex0FacingPoly9side2.rgb.test.ppm

DCT coefficients:

-111-3
10-1
-1-11
110
100
000
000
000
000
1-310-1-1-1
16141616151515

Nearest Features (transformed):

1.5804002.092200-1.252000
0.3815001.367400-1.252000
1.5804000.684500-1.252000
0.382700-0.023400-1.197200
-0.8474000.676500-1.202200
1.602600-0.728300-1.205100
25260
21240
25220
21190
17220
25170

DTBin = 1614161615151521242522

RTcube-3DOD006ViewIndex0ZoomIndex0FacingPoly6side2.rgb.train.ppm

DCT coefficients:

-111-3
10-1
-1-11
110
100
000
000
000
000
1-310-1-1-1
16141616151515

Nearest Features (transformed):

1.5934002.123500-1.235700
0.3910001.391500-1.235700
1.5934000.713300-1.235700
0.3975000.002000-1.207400
-0.8283000.692500-1.232100
1.624200-0.704900-1.184800
25270
21240
25220
21200
17220
25170

DTBin = 1614161615151521242522
origTrainDTBin = 1614161615151521242522 [same]

0.000
RTcube-3DOD1010ViewIndex1ZoomIndex0FacingPoly10side0.rgb.test.ppm

DCT coefficients:

-112-1
000
-2-10
110
000
000
000
000
000
2-1000-2-1
17151616161515

Nearest Features (transformed):

-1.6311002.098400-1.178300
-1.6311000.697500-1.178300
-0.4277001.370200-1.233700
-0.438900-0.021000-1.178300
-1.673200-0.711600-1.126500
0.7937000.658300-1.242900
14260
14220
18240
18190
14170
22220

DTBin = 1715161616151514221824

RTcube-3DOD007ViewIndex0ZoomIndex0FacingPoly7side0.rgb.train.ppm

DCT coefficients:

-112-1
000
-2-11
110
000
000
000
000
000
2-1000-2-1
17151616161515

Nearest Features (transformed):

-1.6164002.128200-1.197600
-1.6164000.720500-1.197600
-0.4122001.394800-1.226200
-0.4258000.003400-1.197600
-1.653400-0.684600-1.193100
0.8160000.683600-1.204600
14270
14220
18240
18200
14170
22220

DTBin = 1715161616151514221824
origTrainDTBin = 1715161616151514221824 [same]

0.001
RTcube-3DOD1010ViewIndex1ZoomIndex0FacingPoly10side1.rgb.test.ppm

DCT coefficients:

-111-2
10-1
-1-10
110
000
000
000
000
000
1-210-1-1-1
16151616151515

Nearest Features (transformed):

0.3554001.422600-1.178300
-0.8445000.699500-1.178300
0.3529000.016100-1.233700
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0.373600-1.397500-1.242900
21240
17220
21200
17170
13200
21150

DTBin = 1615161615151521241722

RTcube-3DOD007ViewIndex0ZoomIndex0FacingPoly7side1.rgb.train.ppm

DCT coefficients:

-111-2
10-1
-1-11
110
000
000
000
000
000
1-210-1-1-1
16151616151515

Nearest Features (transformed):

0.3862001.424600-1.197600
-0.8197000.698400-1.197600
0.3792000.014700-1.226200
-0.819700-0.691500-1.197600
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0.403600-1.404400-1.204600
21240
17220
21200
17170
13200
21150

DTBin = 1615161615151521241722
origTrainDTBin = 1615161615151521241722 [same]

0.000
RTcube-3DOD1010ViewIndex1ZoomIndex0FacingPoly10side2.rgb.test.ppm

DCT coefficients:

-111-2
100
-2-10
110
000
000
000
000
000
1-2100-2-1
16151616161515

Nearest Features (transformed):

-0.0494002.023300-1.178300
-0.7362000.802200-1.178300
0.6424000.798600-1.233700
-0.049400-0.408400-1.178300
-1.463800-0.405200-1.126500
1.358000-0.420700-1.242900
19260
17220
22220
19180
15180
24180

DTBin = 1615161616151519261722

RTcube-3DOD007ViewIndex0ZoomIndex0FacingPoly7side2.rgb.train.ppm

DCT coefficients:

-111-2
100
-2-11
110
000
000
000
000
000
1-2100-2-1
16151616161515

Nearest Features (transformed):

-0.0258002.043000-1.197600
-0.7139000.814900-1.197600
0.6663000.814500-1.226200
-0.025800-0.392600-1.197600
-1.433000-0.392700-1.193100
1.390100-0.406300-1.204600
19260
17220
22220
19180
15180
24180

DTBin = 1615161616151519261722
origTrainDTBin = 1615161616151519261722 [same]

0.001
RTcube-3DOD1011ViewIndex1ZoomIndex0FacingPoly11side0.rgb.test.ppm

DCT coefficients:

-112-1
000
-2-11
110
000
000
000
000
000
2-1000-2-1
17151616161515

Nearest Features (transformed):

-1.5991002.098400-1.221300
-1.5991000.697500-1.221300
-0.3947001.370200-1.244600
-0.407300-0.021000-1.189500
-1.642600-0.711600-1.170700
0.8266000.658300-1.221300
14260
14220
18240
18190
14170
22220

DTBin = 1715161616151514221824

RTcube-3DOD007ViewIndex0ZoomIndex0FacingPoly7side0.rgb.train.ppm

DCT coefficients:

-112-1
000
-2-11
110
000
000
000
000
000
2-1000-2-1
17151616161515

Nearest Features (transformed):

-1.6164002.128200-1.197600
-1.6164000.720500-1.197600
-0.4122001.394800-1.226200
-0.4258000.003400-1.197600
-1.653400-0.684600-1.193100
0.8160000.683600-1.204600
14270
14220
18240
18200
14170
22220

DTBin = 1715161616151514221824
origTrainDTBin = 1715161616151514221824 [same]

0.001
RTcube-3DOD1011ViewIndex1ZoomIndex0FacingPoly11side1.rgb.test.ppm

DCT coefficients:

-110-3
10-1
-101
110
000
000
000
000
000
0-310-1-10
16141616151516

Nearest Features (transformed):

1.3720000.408500-1.221300
-0.0288000.385800-1.221300
0.663300-0.807500-1.244600
-0.727900-0.817400-1.189500
-1.4384000.406600-1.170700
-0.028800-2.040100-1.221300
24210
19210
22170
17170
15210
19130

DTBin = 1614161615151624211921

RTcube-3DOD008ViewIndex0ZoomIndex0FacingPoly8side1.rgb.train.ppm

DCT coefficients:

-110-3
10-1
-101
110
000
000
000
000
000
0-310-1-10
16141616151516

Nearest Features (transformed):

1.3997000.418000-1.202200
-0.0078000.396700-1.202200
0.684700-0.797300-1.227400
-0.706700-0.804700-1.198800
-1.4133000.412300-1.197900
-0.007800-2.036100-1.202200
24210
19210
22170
17170
15210
19130

DTBin = 1614161615151624211921
origTrainDTBin = 1614161615151624211921 [same]

0.000
RTcube-3DOD1011ViewIndex1ZoomIndex0FacingPoly11side2.rgb.test.ppm

DCT coefficients:

-111-3
10-1
-1-11
110
000
000
000
000
000
1-310-1-1-1
16141616151515

Nearest Features (transformed):

1.5904001.393400-1.221300
0.3857000.678200-1.221300
1.579100-0.014000-1.244600
0.376300-0.713300-1.189500
-0.848100-0.003700-1.170700
1.590400-1.427500-1.221300
25240
21220
25190
21170
17190
25150

DTBin = 1614161615151525242122

RTcube-3DOD008ViewIndex0ZoomIndex0FacingPoly8side2.rgb.train.ppm

DCT coefficients:

-111-3
10-1
-1-11
110
000
000
000
000
000
1-310-1-1-1
16141616151515

Nearest Features (transformed):

1.6113001.418400-1.202200
0.4010000.699600-1.202200
1.5957000.008400-1.227400
0.392400-0.690200-1.198800
-0.8259000.014000-1.197900
1.611300-1.410700-1.202200
25240
21220
25200
21170
17200
25150

DTBin = 1614161615151525242122
origTrainDTBin = 1614161615151525242122 [same]

0.000
RTcube-3DOD1012ViewIndex1ZoomIndex0FacingPoly12side0.rgb.test.ppm

DCT coefficients:

-111-2
-101
-1-11
110
000
000
000
000
000
1-2-101-1-1
16151516161515

Nearest Features (transformed):

-0.7891000.6924001.216000
-0.789100-0.6995001.216000
0.409500-0.0161001.216000
0.4306001.3975001.224300
-2.018800-0.0083001.221100
0.409500-1.4226001.160600
17220
17170
21190
21240
13190
21150

DTBin = 1615151616151517221717

RTcube-3DOD004ViewIndex0ZoomIndex0FacingPoly4side1.rgb.train.ppm

DCT coefficients:

-111-2
-101
-1-11
110
000
000
000
000
000
1-2-101-1-1
16151516161515

Nearest Features (transformed):

0.4105001.4044001.202300
-0.8128000.6915001.202300
0.386300-0.0147001.224000
-0.812800-0.6984001.202300
-2.035500-0.0052001.204800
0.393000-1.4246001.195300
21240
17220
21190
17170
13190
21150

DTBin = 1615151616151517221717
origTrainDTBin = 1615151616151517221717 [same]

0.000
RTcube-3DOD1012ViewIndex1ZoomIndex0FacingPoly12side1.rgb.test.ppm

DCT coefficients:

-111-2
10-1
-101
110
000
000
000
000
000
1-210-1-10
16151616151516

Nearest Features (transformed):

0.387800-0.0026001.216000
-0.8214000.6868001.216000
-0.821400-0.6929001.216000
0.396200-1.4115001.224300
0.3881001.4127001.221100
-2.0433000.0037001.160600
21190
17220
17170
21150
21240
13200

DTBin = 1615161615151621191722

RTcube-3DOD0012ViewIndex0ZoomIndex0FacingPoly12side0.rgb.train.ppm

DCT coefficients:

-111-2
10-1
-101
110
100
000
000
000
000
1-210-1-10
16151616151516

Nearest Features (transformed):

-0.8407000.6869001.201700
-0.840700-0.6936001.201700
0.366500-0.0015001.223700
0.3663001.4055001.248400
-2.068000-0.0008001.150600
0.380500-1.4172001.201700
17220
17170
21190
21240
13190
21150

DTBin = 1615161615151621191722
origTrainDTBin = 1615161615151621191722 [same]

0.001
RTcube-3DOD1012ViewIndex1ZoomIndex0FacingPoly12side2.rgb.test.ppm

DCT coefficients:

-111-2
000
-2-11
110
100
000
000
000
000
1-2000-2-1
16151616161515

Nearest Features (transformed):

0.7937000.6896001.216000
-0.404600-0.0187001.216000
0.793700-0.7028001.216000
2.021300-0.0016001.224300
-0.4353001.3916001.221100
-0.417100-1.4185001.160600
22220
18190
22170
26190
18240
18150

DTBin = 1615161616151522221819

RTcube-3DOD003ViewIndex0ZoomIndex0FacingPoly3side1.rgb.train.ppm

DCT coefficients:

-111-2
000
-2-11
110
100
000
000
000
000
1-2000-2-1
16151616161515

Nearest Features (transformed):

2.006600-0.0032001.230900
0.7714000.6891001.230900
0.771400-0.7026001.230900
-0.426000-0.0161001.209300
-0.4494001.3890001.233700
-0.439700-1.4234001.180300
26190
22220
22170
18190
18240
18150

DTBin = 1615161616151522221819
origTrainDTBin = 1615161616151522221819 [same]

0.000
RTcube-3DOD1013ViewIndex1ZoomIndex0FacingPoly13side0.rgb.test.ppm

DCT coefficients:

-11-1-2
000
-211
110
000
000
000
000
000
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15151616161516

Nearest Features (transformed):

-0.7886000.689600-1.219300
0.409600-0.018700-1.214400
-0.788600-0.702800-1.219300
-2.016300-0.001600-1.232700
0.4403001.391600-1.219300
0.421900-1.418500-1.158800
17220
21190
17170
13190
21240
21150

DTBin = 1515161616151617222119

RTcube-3DOD0011ViewIndex0ZoomIndex0FacingPoly11side0.rgb.train.ppm

DCT coefficients:

-11-1-2
000
-211
110
100
000
000
000
000
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15151616161516

Nearest Features (transformed):

-0.8221000.689100-1.197600
0.375200-0.016100-1.226100
-0.822100-0.702600-1.197600
0.3975001.389000-1.251400
-2.056200-0.003200-1.146100
0.390000-1.423400-1.197600
17220
21190
17170
21240
13190
21150

DTBin = 1515161616151617222119
origTrainDTBin = 1515161616151617222119 [same]

0.001
RTcube-3DOD1013ViewIndex1ZoomIndex0FacingPoly13side1.rgb.test.ppm

DCT coefficients:

-111-2
-101
-2-11
110
000
000
000
000
000
1-2-101-2-1
16151516161515

Nearest Features (transformed):

0.676900-0.809400-1.219300
-0.715100-0.804900-1.214400
-0.0278000.391500-1.219300
1.3858000.408100-1.232700
-0.027800-2.036800-1.219300
-1.4341000.396200-1.158800
22170
17170
19210
24210
19130
15210

DTBin = 1615151616151522171717

RTcube-3DOD0010ViewIndex0ZoomIndex0FacingPoly10side1.rgb.train.ppm

DCT coefficients:

-111-2
-101
-2-11
110
000
000
000
000
000
1-2-101-2-1
16151516161515

Nearest Features (transformed):

0.660400-0.817600-1.232700
-0.729200-0.812200-1.208400
-0.0412000.384300-1.232700
-0.041200-2.037500-1.232700
1.3781000.402900-1.235500
-1.4504000.396400-1.179300
22170
17170
19210
19130
24210
15210

DTBin = 1615151616151522171717
origTrainDTBin = 1615151616151522171717 [same]

0.000
RTcube-3DOD1013ViewIndex1ZoomIndex0FacingPoly13side2.rgb.test.ppm

DCT coefficients:

-110-3
-201
-100
110
000
000
000
000
000
0-3-201-10
16141516161516

Nearest Features (transformed):

1.594500-0.710200-1.219300
0.385100-1.399400-1.214400
0.385500-0.019600-1.219300
1.6032000.698600-1.232700
1.594500-2.125600-1.219300
-0.836500-0.715800-1.158800
25170
21150
21190
25220
25120
17170

DTBin = 1614151616151625172115

RTcube-3DOD0010ViewIndex0ZoomIndex0FacingPoly10side2.rgb.train.ppm

DCT coefficients:

-110-3
-101
-100
110
000
000
000
000
000
0-3-101-10
16141516161516

Nearest Features (transformed):

1.583700-0.725700-1.232700
0.376400-1.413700-1.208400
0.376400-0.033500-1.232700
1.583700-2.132900-1.232700
1.5975000.690200-1.235500
-0.851200-0.725500-1.179300
25170
21150
21190
25120
25220
17170

DTBin = 1614151616151625172115
origTrainDTBin = 1614151616151625172115 [same]

0.000
RTcube-3DOD1015ViewIndex1ZoomIndex0FacingPoly15side1.rgb.test.ppm

DCT coefficients:

-110-3
10-1
-101
110
000
000
000
000
000
0-310-1-10
16141616151516

Nearest Features (transformed):

0.704800-0.807500-1.221600
0.0123000.385800-1.221600
-0.687500-0.817400-1.213400
1.4123000.408500-1.174500
0.012300-2.040100-1.221600
-1.3982000.406600-1.218400
22170
20210
17170
24210
20130
15210

DTBin = 1614161615151622171717

RTcube-3DOD008ViewIndex0ZoomIndex0FacingPoly8side1.rgb.train.ppm

DCT coefficients:

-110-3
10-1
-101
110
000
000
000
000
000
0-310-1-10
16141616151516

Nearest Features (transformed):

1.3997000.418000-1.202200
-0.0078000.396700-1.202200
0.684700-0.797300-1.227400
-0.706700-0.804700-1.198800
-1.4133000.412300-1.197900
-0.007800-2.036100-1.202200
24210
19210
22170
17170
15210
19130

DTBin = 1614161615151622171717
origTrainDTBin = 1614161615151622171717 [same]

0.000
RTcube-3DOD1015ViewIndex1ZoomIndex0FacingPoly15side2.rgb.test.ppm

DCT coefficients:

-111-3
10-1
-2-11
110
000
000
000
000
000
1-310-1-2-1
16141616151515

Nearest Features (transformed):

1.604200-0.709400-1.221600
0.415900-0.008200-1.221600
1.6253000.697300-1.174500
25170
21190
25220

DTBin = 1614161615151525172522

RTcube-3DOD006ViewIndex0ZoomIndex0FacingPoly6side2.rgb.train.ppm

DCT coefficients:

-111-3
10-1
-1-11
110
100
000
000
000
000
1-310-1-1-1
16141616151515

Nearest Features (transformed):

1.5934000.713300-1.235700
0.3975000.002000-1.207400
1.624200-0.704900-1.184800
25220
21200
25170

DTBin = 1614161615151525172522
origTrainDTBin = 1614161615151525172522 [same]

0.001
RTcube-3DOD1016ViewIndex1ZoomIndex0FacingPoly16side1.rgb.test.ppm

DCT coefficients:

-111-2
-100
-2-11
110
000
000
000
000
000
1-2-100-2-1
16151516161515

Nearest Features (transformed):

0.738800-0.7986001.178400
-0.639800-0.8022001.233300
0.0448000.4084001.178400
0.044800-2.0233001.178400
1.4528000.4207001.130600
-1.3692000.4052001.239700
22170
17170
20210
20130
24210
15210

DTBin = 1615151616151522171717

RTcube-3DOD005ViewIndex0ZoomIndex0FacingPoly5side1.rgb.train.ppm

DCT coefficients:

-111-2
-100
-2-11
110
000
000
000
000
000
1-2-100-2-1
16151516161515

Nearest Features (transformed):

1.3960000.4063001.197700
-0.0198000.3926001.197700
0.672400-0.8145001.222900
-0.707900-0.8149001.201100
-1.4270000.3927001.200200
-0.019800-2.0430001.197700
24210
19210
22170
17170
15210
19130

DTBin = 1615151616151522171717
origTrainDTBin = 1615151616151522171717 [same]

0.001
RTcube-3DOD1016ViewIndex1ZoomIndex0FacingPoly16side2.rgb.test.ppm

DCT coefficients:

-111-3
-101
-1-11
110
000
000
000
000
000
1-3-101-1-1
16141516161515

Nearest Features (transformed):

1.636000-0.6845001.178400
0.4371000.0234001.178400
1.6560000.7283001.130600
25170
21200
25220

DTBin = 1614151616151525172522

RTcube-3DOD003ViewIndex0ZoomIndex0FacingPoly3side2.rgb.train.ppm

DCT coefficients:

-111-3
-101
-1-11
110
100
000
000
000
000
1-3-101-1-1
16141516161515

Nearest Features (transformed):

1.5971000.6918001.230900
0.409600-0.0118001.209300
1.627500-0.7172001.180300
25220
21190
25170

DTBin = 1614151616151525172522
origTrainDTBin = 1614151616151525172522 [same]

0.000
RTcube-3DOD1017ViewIndex1ZoomIndex0FacingPoly17side0.rgb.test.ppm

DCT coefficients:

-11-1-3
-101
-111
110
000
000
000
000
000
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15141516161516

Nearest Features (transformed):

-1.605700-0.684500-1.219400
-0.407100-1.367400-1.243900
-0.4072000.023400-1.189100
-1.605700-2.092200-1.219400
-1.6270000.728300-1.172000
0.822600-0.676500-1.219400
14170
18150
18200
14130
14220
22170

DTBin = 1514151616151614171815

RTcube-3DOD0013ViewIndex0ZoomIndex0FacingPoly13side0.rgb.train.ppm

DCT coefficients:

-11-1-3
-101
-111
110
000
000
000
000
000
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15141516161516

Nearest Features (transformed):

-1.595200-0.713300-1.233300
-0.392900-1.391500-1.235100
-0.399300-0.002000-1.206800
-1.595200-2.123500-1.233300
-1.6259000.704900-1.182400
0.826500-0.692500-1.233300
14170
18150
18190
14120
14220
22170

DTBin = 1514151616151614171815
origTrainDTBin = 1514151616151614171815 [same]

0.001
RTcube-3DOD1017ViewIndex1ZoomIndex0FacingPoly17side1.rgb.test.ppm

DCT coefficients:

-112-1
000
-2-11
110
000
000
000
000
000
2-1000-2-1
17151616161515

Nearest Features (transformed):

-0.3907000.681000-1.219400
-1.584300-0.010600-1.243900
-0.382700-0.711000-1.189100
-1.6067001.390000-1.219400
0.840600-0.012200-1.172000
-1.606700-1.420800-1.219400
18220
14190
18170
14240
22190
14150

DTBin = 1715161616151518221419

RTcube-3DOD0013ViewIndex0ZoomIndex0FacingPoly13side1.rgb.train.ppm

DCT coefficients:

-112-1
000
-2-11
110
000
000
000
000
000
2-1000-2-1
17151616161515

Nearest Features (transformed):

-0.4096000.688500-1.233300
-1.605200-0.001600-1.235100
-0.405600-0.703000-1.206800
-1.6238001.405900-1.233300
0.827000-0.006600-1.182400
-1.623800-1.407000-1.233300
18220
14190
18170
14240
22190
14150

DTBin = 1715161616151518221419
origTrainDTBin = 1715161616151518221419 [same]

0.001
RTcube-3DOD1017ViewIndex1ZoomIndex0FacingPoly17side2.rgb.test.ppm

DCT coefficients:

-111-2
-101
-2-11
110
000
000
000
000
000
1-2-101-2-1
16151516161515

Nearest Features (transformed):

0.0246000.391500-1.219400
-0.662200-0.804900-1.243900
0.728600-0.809400-1.189100
-1.3830000.396200-1.219400
1.4375000.408100-1.172000
0.024600-2.036800-1.219400
20210
17170
22170
15210
24210
20130

DTBin = 1615151616151517172217

RTcube-3DOD0010ViewIndex0ZoomIndex0FacingPoly10side1.rgb.train.ppm

DCT coefficients:

-111-2
-101
-2-11
110
000
000
000
000
000
1-2-101-2-1
16151516161515

Nearest Features (transformed):

0.660400-0.817600-1.232700
-0.729200-0.812200-1.208400
-0.0412000.384300-1.232700
-0.041200-2.037500-1.232700
1.3781000.402900-1.235500
-1.4504000.396400-1.179300
22170
17170
19210
19130
24210
15210

DTBin = 1615151616151517172217
origTrainDTBin = 1615151616151517172217 [same]

0.000
RTcube-3DOD1018ViewIndex1ZoomIndex0FacingPoly18side0.rgb.test.ppm

DCT coefficients:

-112-1
000
-2-10
110
000
000
000
000
000
2-1000-2-1
17151616161515

Nearest Features (transformed):

-1.598900-0.713800-1.221600
-0.415800-0.003800-1.220000
-1.6421000.685600-1.171300
14170
18190
14220

DTBin = 1715161616151514171422

RTcube-3DOD007ViewIndex0ZoomIndex0FacingPoly7side0.rgb.train.ppm

DCT coefficients:

-112-1
000
-2-11
110
000
000
000
000
000
2-1000-2-1
17151616161515

Nearest Features (transformed):

-1.6164000.720500-1.197600
-0.4258000.003400-1.197600
-1.653400-0.684600-1.193100
14220
18200
14170

DTBin = 1715161616151514171422
origTrainDTBin = 1715161616151514171422 [same]

0.004
RTcube-3DOD1018ViewIndex1ZoomIndex0FacingPoly18side2.rgb.test.ppm

DCT coefficients:

-110-3
10-1
-101
110
000
000
000
000
000
0-310-1-10
16141616151516

Nearest Features (transformed):

0.0151000.385800-1.221600
0.707600-0.807500-1.220000
-0.684700-0.817400-1.214900
1.4149000.408500-1.171300
-1.3954000.406600-1.221600
0.015100-2.040100-1.221600
20210
22170
17170
24210
15210
20130

DTBin = 1614161615151622171717

RTcube-3DOD008ViewIndex0ZoomIndex0FacingPoly8side1.rgb.train.ppm

DCT coefficients:

-110-3
10-1
-101
110
000
000
000
000
000
0-310-1-10
16141616151516

Nearest Features (transformed):

1.3997000.418000-1.202200
-0.0078000.396700-1.202200
0.684700-0.797300-1.227400
-0.706700-0.804700-1.198800
-1.4133000.412300-1.197900
-0.007800-2.036100-1.202200
24210
19210
22170
17170
15210
19130

DTBin = 1614161615151622171717
origTrainDTBin = 1614161615151622171717 [same]

0.000