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2008 19th International Conference on Pattern Recognition, ICPR 2008
出版者Institute of Electrical and Electronics Engineers Inc.
ISBN(印刷物)9781424421756
DOI
出版物ステータスPublished - 2008
外部発表Yes

出版物シリーズ

名前Proceedings - International Conference on Pattern Recognition
ISSN(印刷物)1051-4651

ASJC Scopus subject areas

  • Computer Vision and Pattern Recognition

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  • 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. : 2008 19th International Conference on Pattern Recognition, ICPR 2008 [4761594] (Proceedings - International Conference on Pattern Recognition). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/icpr.2008.4761594