3D localization of partially buried object in unstructured environment

Kenichi Maruyama, Koji Oka, Ryuichi Takase, Yoshihiro Kawai, Takashi Yoshimi, Hironobu Takahashi, Fumiaki Tomita

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)


This paper describes a method to localize objects which are partially buried in an unstructured environment. The objects are limited to surfaces of revolution in the present study. Candidate regions are extracted as convex surface regions from a range data that is obtained by area-based stereo matching. The surface type at each point is determined based on the signs of the maximum and minimum curvatures, which are calculated by fitting a quadric in the local window. For each candidate region, multiple hypotheses for the position and direction of the rotational axis are generated for each object model. Each hypothesis is verified and improved by an iterative method, and the most reliable hypothesis is adopted. The experimental results demonstrate the effectiveness of the proposed method for actual range data.

Original languageEnglish
Title of host publication2008 19th International Conference on Pattern Recognition, ICPR 2008
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Print)9781424421756
Publication statusPublished - 2008
Externally publishedYes

Publication series

NameProceedings - International Conference on Pattern Recognition
ISSN (Print)1051-4651

ASJC Scopus subject areas

  • Computer Vision and Pattern Recognition


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