Towards real-time object recognition using pairs of lines

This paper describes the method in detail and presents experimental results which indicate that the technique exhibits robustness to camera noise and partial occlusion and produces recognition in times under 1 s on a desktop PC. Recognition times are shown to be from 2 to 16 times faster than with the well-studied pairwise geometric histograms method. Recognition rates of up to 80% were achieved with scenes having signal to noise ratios of 2.5.