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All figures (13)
Fig. 8. Spin images comparison examples.
Fig. 10. The Stanford Bunny with self occlusion.
Fig. 6. Matching points.
Fig. 7. Sets of 4 points used to compute rigid transformation.
Fig. 9. The Stanford Bunny with a white noise based on the average edge length.
Fig. 1. Example of spin image computation.
Fig. 11. Simulation using the OpenHRP simulator.
Fig. 12. Experiment on a single view of the HRP2 humanoid robot
Fig. 3. Model induces by the surface nature of the pixels.
Fig. 2. Two ways to fill a spin-image: (a) direct way (b) bilinear interpolation.
Fig. 4. Computing bilinear interpolated spin-images from one resolution to the other.
TABLE I COEFFICIENTS FOR COMPUTING THE MULTI-RESOLUTION BILINEAR INTERPOLATION
Fig. 5. A 3D mesh extracted from the Stanford Bunny flying in the OpenHRP simulator. The scene is cut according to the bounding box model.
Proceedings Article
•
DOI
•
3D object recognition using spin-images for a humanoid stereoscopic vision system
[...]
Olivier Stasse
1
,
S. Dupitier
1
,
Kazuhito Yokoi
1
•
Institutions (1)
Centre national de la recherche scientifique
1
01 Oct 2006
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