A model-based 3-D vision system for bin-picking

Author

Distante, Arcangelo ; Ancona, Nicola ; Attolico, Giovanni ; Caponetti, Laura ; Chiaradia, Maria ; Stella, Ettore

Author_Institution

Istituto di Elaborzione Segnali ed Immagini, Bari, Italy

Volume

35

Issue

5

fYear

1988

fDate

5/1/1988 12:00:00 AM

Firstpage

545

Lastpage

553

Abstract

A vision system to recognize 3-D objects in a scene and to evaluate their attitude is presented. This system uses a model-based approach to determine the attitude of 3-D industrial parts in the context of bin packing. It is based on the matching of the extended Gaussian image (EGI) extracted from the surface normal map (needle map) of an observed object with the EGI generated from a 3-D model using geometric modeling. It is shown that geometric modeling can be used to provide an object description (visible surface orientation referred to as a needle map) suited to the problem of 3-D object recognition and attitude evaluation

Keywords

computer vision; computerised pattern recognition; computerised picture processing; 3-D industrial parts; 3-D object recognition; attitude evaluation; bin-picking; extended Gaussian image; geometric modeling; model-based 3-D vision system; needle map; Calibration; Circuits and systems; Layout; Machine vision; Object recognition; Photometry; Robot vision systems; Service robots; Smoothing methods; Stereo vision;

fLanguage

English

Journal_Title

Circuits and Systems, IEEE Transactions on

Publisher

ieee

ISSN

0098-4094

Type

jour

DOI

10.1109/31.1782

Filename

1782