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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Journal ArticleDOI
Shape-appearance-correlated active appearance model
TL;DR: A shape-appearance-correlated AAM is proposed to tackle the generic problem of localizing feature points on unseen faces, and the optimization is solved by using the recently proposed fast simultaneous inverse compositional (Fast-SIC) algorithm.
Journal ArticleDOI
Three‐dimensional object recognition from appearance—Parametric eigenspace method
Hiroshi Murase,Shree K. Nayar +1 more
TL;DR: The proposed method can learn a 3-dimensional object as a set of 2-dimensional images by using a new parametric eigenspace approach with a small memory capacity and can recognize the object and estimate its pose.
Journal ArticleDOI
Curvature and torsion feature extraction from free-form 3-D meshes at multiple scales
TL;DR: A novel technique is presented for multi-scale curvature computation on a smoothed 3-D surface by convolving local parameterisations of the surface iteratively with 2-D Gaussian filters, independent of the underlying triangulation and more efficient than volumetric diffusion techniques.
Proceedings ArticleDOI
Determining linear shape change: toward automatic generation of object recognition programs
Katsushi Ikeuchi,Ki Sang Hong +1 more
TL;DR: The authors generate a program to determine the precise attitude and position of an object within one aspect, provided that the face correspondences are given as the result of aspect classification.
Journal ArticleDOI
Recognizing large isolated 3-D objects through next view planning using inner camera invariants
TL;DR: This paper presents a new online scheme for the recognition and pose estimation of a large isolated 3D object, which may not entirely fit in a camera's field of view, and uses a probabilistic reasoning framework for recognition and next-view planning.
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.