Object recognition and pose estimation from 3D-geometric relations

Author

Hillenbrand, Ulrich ; Hirzinger, Gerd

Author_Institution

Inst. of Robotics & Mech., German Aerosp. Center, Wessling, Germany

Volume

1

fYear

2000

fDate

2000

Firstpage

113

Abstract

We present a method for object recognition and pose estimation from noisy range data as provided by stereo processing. From the range dates, points of high surface curvature are estimated. By comparing three-point geometric relations, hypothetical correspondences are established between data and model points of high curvature. The hypothetical correspondences give rise to pose hypotheses which are evaluated with respect to the raw range data using a crude surface model. We show examples that demonstrate the method´s tolerance to noise and occlusion

Keywords

computational geometry; feature extraction; noise; object recognition; 3D-geometric relations; crude surface model; high surface curvature; hypothetical correspondences; model points; noise tolerance; noisy range data; object recognition; occlusion tolerance; pose estimation; pose hypotheses; range dates; raw range data; stereo processing; three-point geometric relations; Data engineering; Feature extraction; Intelligent systems; Layout; Mechatronics; Object recognition; Robots; Solid modeling; Surface fitting; Surface texture;

fLanguage

English

Publisher

ieee

Conference_Titel

Knowledge-Based Intelligent Engineering Systems and Allied Technologies, 2000. Proceedings. Fourth International Conference on

Conference_Location

Brighton

Print_ISBN

0-7803-6400-7

Type

conf

DOI

10.1109/KES.2000.885771

Filename

885771