3-D Location And Recognition Of Polyhedric Objects

N. Laieb; N. Tonfack; A. Faure

doi:10.1117/12.942776

19 February 1988 3-D Location And Recognition Of Polyhedric Objects

N. Laieb, N. Tonfack, A. Faure

Proceedings Volume 0848, Intelligent Robots and Computer Vision VI; (1988) https://doi.org/10.1117/12.942776
Event: Advances in Intelligent Robotics Systems, 1987, Cambridge, CA, United States

Abstract

In the present state of the art, the importance of the artificial vision in robotics, industries and the necessity of robot presence in hostile environment is not yet to prove. The vision systems that already exist are type application dependent. There are three main classes of the stereo vision systems : - The laser imaging are potentially hazardous and has difficulties with shiny metal reflective surfaces. At present, it is a more expensive depth sensing technology than the other methods stated bellow ; - Photometric stereo puts great demands on the illumination in the scene and properly undestanding the reflectance properties of the object to be viewed ; - Whenever, the binocular stereo vision can be used in a wide range of illuminations and object domains. It is a well understood method. Its low cost motivate its use in a generalized robotics environment, neverless, the difficulties encountered when one want to put in correspondance the two images of the stereo pair. This paper presents one binocular stereo vision system, applied to the polyhedric objects, which performs in a first time the features extraction and 3-D coordinates determination of the vertices. In a second time, it also permits the recognition of objects that have been already modelled on data-base and characterised on an appropriate knowledge-base. The principal operations performed by our system are : - The image processing (segmentation, edge extraction and idealization, skeleton...) ; - Object's location (vertices extraction and the determination of their 3-D coor-dinates...) ; - Object recognition (pertinent features extraction, knowledge base establishement and object identification). Experimental results are already obtained in our laboratory.

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N. Laieb, N. Tonfack, and A. Faure "3-D Location And Recognition Of Polyhedric Objects", Proc. SPIE 0848, Intelligent Robots and Computer Vision VI, (19 February 1988); https://doi.org/10.1117/12.942776

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KEYWORDS

Image processing

Image segmentation

3D image processing

Robot vision

Imaging systems

Machine vision

Cameras

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