Measurement of 3D fundamental features by fusion of range, intensity and tactile images

Author

Umeda, Kazunori ; Kinoshita, Gen-Ichiro

Author_Institution

Dept. Precision Mech., Chuo Univ., Tokyo, Japan

fYear

2001

fDate

2001

Firstpage

177

Lastpage

182

Abstract

Proposes methods of fusing range images, intensity images and tactile images. The methods are intended for application to distributed sensing of multiple mobile robots. As the features for fusion, practically important and possible to robustly extract ones, are selected: planar regions and cylindrical regions for range images, linear edges for intensity images and planar regions and linear edges for tactile images. The fusion methods to measure a 3D edge and a cylinder are constructed and formulated by utilizing a least square approach. Additionally, fusion of these features measured by multiple mobile robots is discussed. The measurement of 3D edges and cylinders are verified by experiments.

Keywords

CCD image sensors; edge detection; mobile robots; multi-robot systems; sensor fusion; tactile sensors; 3D edge; 3D fundamental features; cylindrical regions; distributed sensing; intensity images; least square approach; linear edges; multiple mobile robots; planar regions; range images; tactile images; Coordinate measuring machines; Image recognition; Image sensors; Least squares methods; Mobile robots; Robot kinematics; Robot sensing systems; Sensor systems; Shape; Tactile sensors;

fLanguage

English

Publisher

ieee

Conference_Titel

Multisensor Fusion and Integration for Intelligent Systems, 2001. MFI 2001. International Conference on

Print_ISBN

3-00-008260-3

Type

conf

DOI

10.1109/MFI.2001.1013528

Filename

1013528