3D object recognition in cluttered environments by segment-based stereo vision

Yasushi Sumi, Yoshihiro Kawai, Takashi Yoshimi, Fumiaki Tomita

研究成果: Article

65 引用 (Scopus)

抄録

We propose a new method for 3D object recognition which uses segment-based stereo vision. An object is identified in a cluttered environment and its position and orientation (6 dof) are determined accurately enabling a robot to pick up the object and manipulate it. The object can be of any shape (planar figures, polyhedra, free-form objects) and partially occluded by other objects. Segment-based stereo vision is employed for 3D sensing. Both CAD-based and sensor-based object modeling subsystems are available. Matching is performed by calculating candidates for the object position and orientation using local features, verifying each candidate, and improving the accuracy of the position and orientation by an iteration method. Several experimental results are presented to demonstrate the usefulness of the proposed method.

元の言語English
ページ(範囲)5-23
ページ数19
ジャーナルInternational Journal of Computer Vision
46
発行部数1
DOI
出版物ステータスPublished - 2002 1
外部発表Yes

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Stereo vision
Object recognition
Computer aided design
Robots
Sensors

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Control and Systems Engineering

これを引用

3D object recognition in cluttered environments by segment-based stereo vision. / Sumi, Yasushi; Kawai, Yoshihiro; Yoshimi, Takashi; Tomita, Fumiaki.

:: International Journal of Computer Vision, 巻 46, 番号 1, 01.2002, p. 5-23.

研究成果: Article

Sumi, Yasushi ; Kawai, Yoshihiro ; Yoshimi, Takashi ; Tomita, Fumiaki. / 3D object recognition in cluttered environments by segment-based stereo vision. :: International Journal of Computer Vision. 2002 ; 巻 46, 番号 1. pp. 5-23.
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