Progressive Mesh Object Registration

Author

Boehnke, Kay ; Otesteanu, Marius

Author_Institution

Commun. Dept., Polytehnica Univ. Timisoara, Timisoara

fYear

2008

fDate

4-4 Dec. 2008

Firstpage

6

Lastpage

11

Abstract

Using 3D information delivered by laser range sensor becomes more and more common in industrial systems. Especially object recognition and localization in 3D range data is still a challenging task in robotic vision. We connect the registration technique of the well known iterative closest points algorithm with the hierarchical object representation of progressive meshes to find objects in a scene. This approach is integrated in an object localization system for industrial robotic bin picking.

Keywords

image registration; image representation; industrial robots; iterative methods; laser ranging; mesh generation; object recognition; robot vision; hierarchical object representation; industrial robotic bin picking; iterative closest point algorithm; laser range sensor; object localization; object recognition; progressive mesh object registration; robotic vision; Iterative algorithms; Iterative closest point algorithm; Layout; Object recognition; Pediatrics; Robot vision systems; Robotics and automation; Robustness; Sensor systems; Service robots; Automation system; ICP Algorithm; Robotic bin picking; Virtual Reality simulation; object recognition and localization;

fLanguage

English

Publisher

ieee

Conference_Titel

System Integration, 2008 IEEE/SICE International Symposium on

Conference_Location

Nagoya

Print_ISBN

978-1-4244-3838-9

Electronic_ISBN

978-1-4244-2209-8

Type

conf

DOI

10.1109/SI.2008.4770418

Filename

4770418