3D localization of partially buried object in unstructured environment

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

研究成果: Conference contribution

3 引用 (Scopus)

抜粋

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.

元の言語English
ホスト出版物のタイトルProceedings - International Conference on Pattern Recognition
出版物ステータスPublished - 2008
外部発表Yes
イベント2008 19th International Conference on Pattern Recognition, ICPR 2008 - Tampa, FL
継続期間: 2008 12 82008 12 11

Other

Other2008 19th International Conference on Pattern Recognition, ICPR 2008
Tampa, FL
期間08/12/808/12/11

    フィンガープリント

ASJC Scopus subject areas

  • Computer Vision and Pattern Recognition

これを引用

Maruyama, K., Oka, K., Takase, R., Kawai, Y., Yoshimi, T., Takahashi, H., & Tomita, F. (2008). 3D localization of partially buried object in unstructured environment. : Proceedings - International Conference on Pattern Recognition [4761594]