Integrated vision system for object identification and localization using 3-D geometrical models

Clint R. Bidlack; Mohan M. Trivedi

doi:10.1117/12.45471

1 March 1991 Integrated vision system for object identification and localization using 3-D geometrical models

Clint R. Bidlack, Mohan M. Trivedi

Proceedings Volume 1468, Applications of Artificial Intelligence IX; (1991) https://doi.org/10.1117/12.45471
Event: Orlando '91, 1991, Orlando, FL, United States

Abstract

Successful implementation of sensor based robots in dynamic environments will depend largely upon the immunity of the system to incomplete and erroneous sensory information. This paper introduces a six module, 3D model based robot vision system, which utilizes 3D geometric models of the objects expected to appear in a scene and can tolerate incomplete and noisy image features. Object identification is independent of the particular robot pose and object pose, as long as the object is within view of the camera. The system effectively utilizes topology during the object identification phase to reduce the number of mappings between the domain of image features to that of the object features (object models). Geometric information is then employed by the Pose Determination Module to decipher the identified objects unconstrained position and orientation. Continuing experimentation is giving valuable insight into the characteristics of our strategy and has verified the system performance when using incomplete image feature sets.

Citation Download Citation

Clint R. Bidlack and Mohan M. Trivedi "Integrated vision system for object identification and localization using 3-D geometrical models", Proc. SPIE 1468, Applications of Artificial Intelligence IX, (1 March 1991); https://doi.org/10.1117/12.45471

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available