3D object recognition system using laser range finder

A 3D object recognition system using laser range finder as an imaging device has been developed. Height images obtained from the system are processed. The technique developed uses the global features of objects such as area, contour length and height histogram, which are rather stable under noisy environment. The system implemented can recognize multiple objects which are not touching or overlapping each other in the scene. Objects are categorized into: (1) recognized type, (2) unknown type, (3) touching the border of sensing field of view type, and (4) oversized type. When objects are touching the border of the sensing field of view, the algorithm for determination of the sensor´s field movement has also been developed. In the developed object recognition system, reference dictionary data can be prepared easily by just showing the object to the laser scanner. Typical recognition time of an object using micro VAX computer proved to be less than 1 second.<>