3D-MBA: a novel multiresolution 3D object recognition system

Emerico Natonek; R. Noll; A. Vicario

doi:10.1117/12.290297

26 September 1997 3D-MBA: a novel multiresolution 3D object recognition system

Emerico Natonek, R. Noll, A. Vicario

Proceedings Volume 3208, Intelligent Robots and Computer Vision XVI: Algorithms, Techniques, Active Vision, and Materials Handling; (1997) https://doi.org/10.1117/12.290297
Event: Intelligent Systems and Advanced Manufacturing, 1997, Pittsburgh, PA, United States

Abstract

An innovative model based object recognition system exploiting a priori knowledge called three dimensional model based approach (3D-MBA) is proposed in this paper. The idea behind 3D-MBA is to use virtual images to model the world and to utilize conventional vision to extract relevant clues in order to perform robust object recognition. By taking advantage of the different available sensors (range scanner, CCD camera) the system will combine top-down and bottom-up approaches by exploiting intensity, range and virtual images. Segmenting range images performs the feature extraction. These features are then combined to search in a geometrical constraint graph enabling object hypothesis generation, thus starting a prediction-verification process. We show that correlation techniques on range and intensity images can be used to validate the hypothesis. It is possible to refine those hypotheses to converge to the final recognition. Another technique to achieve 3-D mesh matching is ICP (iterative closest point). This iterative algorithm is used to find the best match between two sets of points. Each point of the first set is associated with the closest point in the second set. The best translation and rotation are evaluated in order to minimize point to point distance.

Citation Download Citation

Emerico Natonek, R. Noll, and A. Vicario "3D-MBA: a novel multiresolution 3D object recognition system", Proc. SPIE 3208, Intelligent Robots and Computer Vision XVI: Algorithms, Techniques, Active Vision, and Materials Handling, (26 September 1997); https://doi.org/10.1117/12.290297

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