26 September 1997 Combining depth and color data for 3D object recognition
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Abstract
This paper describes the shape recognition system that has been developed within the ESPRIT project 9052 ADAS on automatic disassembly of TV-sets using a robot cell. Depth data from a chirped laser radar are fused with color data from a video camera. The sensor data is pre-processed in several ways and the obtained representation is used to train a RAM neural network (memory based reasoning approach) to detect different components within TV-sets. The shape recognizing architecture has been implemented and tested in a demonstration setup.
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Thomas Martini Joergensen, Christian Linneberg, Allan Weimar Andersen, "Combining depth and color data for 3D object recognition", Proc. SPIE 3208, Intelligent Robots and Computer Vision XVI: Algorithms, Techniques, Active Vision, and Materials Handling, (26 September 1997); doi: 10.1117/12.290304; https://doi.org/10.1117/12.290304
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