Journal ArticleDOI
Model-based recognition in robot vision
Roland T. Chin,Charles R. Dyer +1 more
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TLDR
This paper presents a comparative study and survey of model-based object-recognition algorithms for robot vision, and an evaluation and comparison of existing industrial part- recognition systems and algorithms is given, providing insights for progress toward future robot vision systems.Abstract:
This paper presents a comparative study and survey of model-based object-recognition algorithms for robot vision. The goal of these algorithms is to recognize the identity, position, and orientation of randomly oriented industrial parts. In one form this is commonly referred to as the "bin-picking" problem, in which the parts to be recognized are presented in a jumbled bin. The paper is organized according to 2-D, 2½-D, and 3-D object representations, which are used as the basis for the recognition algorithms. Three central issues common to each category, namely, feature extraction, modeling, and matching, are examined in detail. An evaluation and comparison of existing industrial part-recognition systems and algorithms is given, providing insights for progress toward future robot vision systems.read more
Citations
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Book
Describing and Recognizing 3-D Objects Using Surface Properties
TL;DR: This paper presents a meta-modelling system that automates the very labor-intensive and therefore time-heavy and expensive process of manually cataloging and matching objects based on a model's geometry.
Patent
System and method for three-dimensional alignment of objects using machine vision
Cyril C. Marrion,Nigel J. Foster,Lifeng Liu,David Y. Li,Guruprasad Shivaram,Aaron S. Wallack,Xiangyun Ye +6 more
TL;DR: In this paper, a stereo matching process is performed on at least two (a pair) of the rectified preprocessed images at a time by locating a predetermined feature on a first image and then locating the same feature in the other image.
Journal ArticleDOI
Range image segmentation combining edge-detection and region-growing techniques with applications sto robot bin-picking using vacuum gripper
E. Al-Hujazi,A. Sood +1 more
TL;DR: In this paper, a segmentation algorithm using residual analysis to detect edges, then a region growing technique is used to obtain the final segmented image, which can then be used to instruct the robot to grip the object and move it to the required position.
Journal ArticleDOI
Partial surface and volume matching in three dimensions
Gill Barequet,Micha Sharir +1 more
TL;DR: A new technique for partial surface and volume matching of images in three dimensions is presented, which treats separately the rotation and the translation components of the Euclidean motion that is sought.
Proceedings ArticleDOI
Object indexing using an iconic sparse distributed memory
Rajesh P. N. Rao,Dana H. Ballard +1 more
TL;DR: The robustness of the indexing method was experimentally confirmed by subjecting the method to a range of viewing conditions and the accuracy was verified using a well-known model database containing a number of complex 3D objects under varying pose.
References
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Journal ArticleDOI
Generalizing the hough transform to detect arbitrary shapes
TL;DR: It is shown how the boundaries of an arbitrary non-analytic shape can be used to construct a mapping between image space and Hough transform space, which makes the generalized Houghtransform a kind of universal transform which can beused to find arbitrarily complex shapes.
Book
Robot Vision
TL;DR: Robot Vision as discussed by the authors is a broad overview of the field of computer vision, using a consistent notation based on a detailed understanding of the image formation process, which can provide a useful and current reference for professionals working in the fields of machine vision, image processing, and pattern recognition.
Journal ArticleDOI
Fourier Descriptors for Plane Closed Curves
Charles T. Zahn,Ralph Roskies +1 more
TL;DR: It is established that the Fourier series expansion is optimal and unique with respect to obtaining coefficients insensitive to starting point and the amplitudes are pure form invariants as well as are certain simple functions of phase angles.