抄録
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 8 → 2008 12 11 |
Other
| Other | 2008 19th International Conference on Pattern Recognition, ICPR 2008 |
|---|---|
| 市 | Tampa, FL |
| 期間 | 08/12/8 → 08/12/11 |
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ASJC Scopus subject areas
- Computer Vision and Pattern Recognition
これを引用
3D localization of partially buried object in unstructured environment. / Maruyama, Kenichi; Oka, Koji; Takase, Ryuichi; Kawai, Yoshihiro; Yoshimi, Takashi; Takahashi, Hironobu; Tomita, Fumiaki.
Proceedings - International Conference on Pattern Recognition. 2008. 4761594.研究成果: Conference contribution
}
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
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
UR - http://www.scopus.com/inward/citedby.url?scp=77957965135&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:77957965135
SN - 9781424421756
BT - Proceedings - International Conference on Pattern Recognition
ER -