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 被引用数 (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.

ホスト出版物のタイトル2008 19th International Conference on Pattern Recognition, ICPR 2008
出版社Institute of Electrical and Electronics Engineers Inc.
出版ステータスPublished - 2008


名前Proceedings - International Conference on Pattern Recognition

ASJC Scopus subject areas

  • コンピュータ ビジョンおよびパターン認識


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