Title :
Progressive Mesh Object Registration
Author :
Boehnke, Kay ; Otesteanu, Marius
Author_Institution :
Commun. Dept., Polytehnica Univ. Timisoara, Timisoara
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;
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
DOI :
10.1109/SI.2008.4770418
