3D object recognition using spin-images for a humanoid stereoscopic vision system

Author

Stasse, Olivier ; Dupitier, Sylvain ; YOKOI, Kazuhito

Author_Institution

AIST/IS-CNRS/STIC Joint Japanese-French Robotics Lab., AIST, Ibaraki

fYear

2006

fDate

9-15 Oct. 2006

Firstpage

2955

Lastpage

2960

Abstract

This paper presents a 3D object recognition method based on spin-images for a humanoid robot having a stereoscopic vision system. Spin-images have been proposed to search CAD models database, and use 3D range informations. In this context, the use of a vision system is taken into account through a multi-resolution approach. A method for quickly computing multi-resolution and interpolating spin-images is proposed. The results on simulation and on real data are given, and show the effectiveness of this method

Keywords

humanoid robots; image resolution; object recognition; robot vision; 3D object recognition; CAD models database; humanoid robot; humanoid stereoscopic vision system; interpolating spin-images; multi-resolution approach; Computational modeling; Databases; Humanoid robots; Intelligent robots; Intelligent systems; Machine vision; Object recognition; Robot vision systems; Service robots; Solid modeling; 3D recognition; Spin-images; humanoid robot; multi-resolution;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on

Conference_Location

Beijing

Print_ISBN

1-4244-0258-1

Electronic_ISBN

1-4244-0259-X

Type

conf

DOI

10.1109/IROS.2006.282151

Filename

4058845