How do I map the id in sys.extended_properties to an object name

Question

When we codegen our CRUD stored procs, we add an extended property that indicates the table they are based on. I want to be able to interrogate sys.extended_properties to get a list of procs that depend on a given table, but extended_properties holds a major_id which doesn't seem to be the same as the object_id in sys.objects or sys.sysobjects.

What is the magic join I need?