Journal ArticleDOI
Model-based recognition in robot vision
Roland T. Chin,Charles R. Dyer +1 more
Reads0
Chats0
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
More filters
Proceedings ArticleDOI
Implementation of geometric hashing on the Connection Machine
Isidore Rigoutsos,R. Hummel +1 more
TL;DR: In this article, a scalable implementation of geometric hashing on the Connection Machine is presented, yielding an expected execution time that is O(log/sup 2/M+log S log M) on a Mn/sup 3/processor hypercube-connected SIMD machine.
Journal ArticleDOI
Global bifurcation sets and stable projections of nonsingular algebraic surfaces
TL;DR: An estimate for the number of nodes in the viewgraph in terms of d is presented and symbolic algorithms for computing the bifurcation set and the view graph of a surface from a parametrization are described.
Proceedings ArticleDOI
Object recognition using geometric hashing on the Connection Machine
O. Bourdon,Gerard Medioni +1 more
TL;DR: A parallel implementation of a system to recognize 2D objects under realistic scenarios (occlusion, rotation, translation, and perspective) is presented, achieving O(n/sup -x/) with n/Sup x/ processors (x
Proceedings ArticleDOI
A constraint satisfaction network for matching 3D objects
TL;DR: A new approach is presented for matching visible surfaces of 3D objects using a constraint satisfaction network that provides the necessary basis for volumetric reconstruction from multiple views.
Journal ArticleDOI
Automatic inspection of mechanical parts using geometric models and laser range finder data
TL;DR: This paper addresses the problems associated in processing arrays of depth data in order to achieve the goal of automatic inspection of mechanical parts, i.
References
More filters
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.