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3DPO: a three-dimensional part orientation system

Robert C. Bolles, +2 more
- 01 Sep 1986 - 
- Vol. 5, Iss: 3, pp 355-359
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TLDR
This paper presents a system that recognizes objects in a jumble, verifies them, and then determines some essential configurational information, such as which ones are on top, by analyzing the patterns of range data predicted from all the hypotheses.
Abstract: 
A system that recognizes objects in a jumble, verifies them, and then determines some essential configurational information, such as which ones are on top, is presented. The approach is to use three-dimensional models of the objects to find them in range data. The matching strategy starts with a distinctive edge feature, such as the edge at the end of a cylindrical part, and then “grows” a match by adding compatible features, one at a time. (The order of features to be considered is predetermined by an interactive, off-line feature-selection process.) Once a sufficient number of compatible features has been detected to allow a hypothesis to be formed, the verification procedure evaluates it by comparing the measured range data with data predicted according to the hypothesis. When all the objects in the scene have been hypothesized and verified in this manner, a configuration-understanding procedure determines which objects are on top of others by analyzing the patterns of range data predicted from all the hypotheses. Experimental results of the system’s performance in recognizing and locating castings in a bin are presented.

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HAL Id: inria-00589982
https://hal.inria.fr/inria-00589982
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3DPO: A Three Dimensional Part Orientation System
Robert Bolles, Radu Horaud
To cite this version:
Robert Bolles, Radu Horaud. 3DPO: A Three Dimensional Part Orientation System.
The International Journal of Robotics Research, SAGE Publications, 1986, 5 (3), pp.3–26.
�10.1177/027836498600500301�. �inria-00589982�
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A method for registration of 3-D shapes

Paul J. Besl, +1 more
- 01 Feb 1992 - 
TL;DR: In this paper, the authors describe a general-purpose representation-independent method for the accurate and computationally efficient registration of 3D shapes including free-form curves and surfaces, based on the iterative closest point (ICP) algorithm, which requires only a procedure to find the closest point on a geometric entity to a given point.
Journal ArticleDOI

Object modelling by registration of multiple range images

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- 01 Apr 1992 - 
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TL;DR: In this paper, the authors describe a general purpose representation independent method for the accurate and computationally efficient registration of 3D shapes including free-form curves and surfaces, based on the iterative closest point (ICP) algorithm, which requires only a procedure to find the closest point on a geometric entity to a given point.
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References
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Book

Automatic synthesis of fine-motion strategies for robots

Tomás Lozano-Pérez, +2 more
TL;DR: In this article, a formal approach to the synthesis of compliant motion strategies from geometric descriptions of assembly operations and explicit estimates of errors in sensing and control is presented, where correctness criteria for compliant motion strategy are provided.
Journal ArticleDOI

Automatic Synthesis of Fine-Motion Strategies for Robots

Tomás Lozano-Pérez, +2 more
- 01 Mar 1984 - 
TL;DR: A formal approach to the synthesis of compliant-motion strategies from geometric descriptions of assembly operations and explicit estimates of errors in sensing and control is described.
Book

Symbolic reasoning among 3-D models and 2-D images

Rodney A. Brooks
TL;DR: Modelling, prediction, description and interpretation proceed concurrently from coarse object subpart and class interpretations of images, to fine distinctions among object subclasses and more precise three dimensional quantification of objects.
Journal ArticleDOI

Model-based recognition and localization from sparse range or tactile data

W. Eric, +2 more
- 01 Jan 1987 - 
TL;DR: In this paper, the authors show that inconsistent hypotheses about pairings between sensed points and object surfaces can be discarded efficiently by using local constraints on distances between faces, angles between face normals, and angles (relative to the surface normals) of vectors between the sensed points.
Journal ArticleDOI

Description and recognition of curved objects

Ramakant Nevatia, +1 more
- 01 Feb 1977 - 
TL;DR: Techniques for generating structured, symbolic descriptions of complex curved objects by segmenting them into simpler sub-parts by matching these descriptions with stored descriptions of models are presented.
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