This paper presents a knowledge-based vision system for a telerobotics guidance project. The system is capable of recognizing and locating 3-D objects with unrestricted viewpoints in a simulated unconstrained space environment. It constructs object representation for vision tasks from wireframe models; recognizes and locates objects in a 3-D scene, and provides world modeling capability to establish, maintain, and update 3-D environment description for telerobotic manipulations. In this paper, an object model is represented by an attributed hypergraph which contains direct structural (relational) information with features grouped according to their multiple-views so as the interpretation of the 3-D object and its 2-D projections are coupled. With this representation, object recognition is directed by a knowledge-directed hypothesis refinement strategy. The strategy starts with the identification of 2-D local feature characteristics for initiating feature and relation matching. Next it continues to refine the matching by adding 2-D features from the image according to viewpoint and geometric consistency. Finally it links the successful matchings back to the 3-D model to recover the feature, relation and location information of the recognized object. The paper also presents the implementation and the experimentation of the vision prototype.
Andrew K. C. Wong,
"Vision system for telerobotics operation", Proc. SPIE 1705, Visual Information Processing, (1 October 1992); doi: 10.1117/12.138448; https://doi.org/10.1117/12.138448