6 August 1993 Matching 3D segmented objects using wire frame analysis
Author Affiliations +
Proceedings Volume 2056, Intelligent Robots and Computer Vision XII: Active Vision and 3D Methods; (1993); doi: 10.1117/12.150190
Event: Optical Tools for Manufacturing and Advanced Automation, 1993, Boston, MA, United States
This paper describes a novel technique in 3D sensory fusion for autonomous mobile vehicles. The primary sensor is a monocular camera mounted on a robot manipulator which pans to up to three positions on a 0.5 m vertical circle, while mounted on the mobile vehicle. The passive scene is analyzed using a method of inverse perspective, which is described and the resulting scene analysis comprises 3D wire frames of all surfaces detected in 3D. The 3D scene analysis uses a dual T-800 transputer based multiprocessor which cycles through generating primary scene information at rates of 1 update per 10 seconds. A PC-based 3D matching algorithm is then used to match the segmented objects to a database of pre-taught 3D wire frames. The matching software is written in Prolog.
© (1993) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Charles R. Allen, Stephan O'Brien, "Matching 3D segmented objects using wire frame analysis", Proc. SPIE 2056, Intelligent Robots and Computer Vision XII: Active Vision and 3D Methods, (6 August 1993); doi: 10.1117/12.150190; https://doi.org/10.1117/12.150190


Robot vision

3D modeling


Computer vision technology

Machine vision

Computing systems


New cooperative edge linking
Proceedings of SPIE (February 01 1991)
Nonreconstruction approach for road following
Proceedings of SPIE (March 01 1992)
Real time vision system for a mobile robot using cheap...
Proceedings of SPIE (August 20 1993)
From belt picking to bin packing
Proceedings of SPIE (October 18 2002)

Back to Top