TY - GEN
T1 - 3D localization of partially buried object in unstructured environment
AU - Maruyama, Kenichi
AU - Oka, Koji
AU - Takase, Ryuichi
AU - Kawai, Yoshihiro
AU - Yoshimi, Takashi
AU - Takahashi, Hironobu
AU - Tomita, Fumiaki
N1 - Copyright:
Copyright 2020 Elsevier B.V., All rights reserved.
PY - 2008
Y1 - 2008
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=77957965135&partnerID=8YFLogxK
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U2 - 10.1109/icpr.2008.4761594
DO - 10.1109/icpr.2008.4761594
M3 - Conference contribution
AN - SCOPUS:77957965135
SN - 9781424421756
T3 - Proceedings - International Conference on Pattern Recognition
BT - 2008 19th International Conference on Pattern Recognition, ICPR 2008
PB - Institute of Electrical and Electronics Engineers Inc.
ER -