Please refer to Fig.5.8. There are five objects made of lines, as shown in (a) -- (e). The scene in (f) consists of subset of deviated lines taken from the first three objects (a) -- (c), shown in dotted lines, and spurious line features shown in dashed lines . Four types of binary relations are measured:
: the angle between lines i and 
,
: the distance between the mid-points of the
lines,
: the minimum distance between the end-points
of the lines, and
: the maximum distance between the end-points
of the lines.
fixed. The values for weighting the binary
measurements are 
,
, 
and
, which are estimated using a supervised
learning procedure to be presented in Chapter 7.
Figure 5.8: Matching objects of lines. (a-e) The five model objects.
(f) The scene.
Fig.5.9 shows the matching results in which the matched object lines from the first three objects are aligned with the scene in (d). The solid lines in (a) correspond to lines 11, 13, 14, 16, 17, 18, 19, 21, 25, 26 and 28 of the object in Fig.5.8(a). Those in (b) correspond to lines 5, 8, 10, 11, 13, 14, 15, 16 and 17 of the object in Fig.5.8(b). Those in (c) correspond to points 1, 2, 3, 5, 8, 9, 11, 12 and 14 of the object in Fig.5.8(c). Objects in (d) -- (e) do not have matches. In (d) is shown the union of all individual results. The spurious lines 2, 13, 14, 15, 27, 33 and 36 in Fig.5.8(f) have found no counterparts in the object models. They are correctly classified as the NULL .
Figure 5.10: Results of matching objects of lines.
(a-c) Matched lines (in solid) from the respective models
aligned with the scene.
(d) All matched lines aligned with the scene.