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
A method for registration of 3-D shapes
Paul J. Besl,H.D. McKay +1 more
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
Comparing images using the Hausdorff distance
TL;DR: Efficient algorithms for computing the Hausdorff distance between all possible relative positions of a binary image and a model are presented and it is shown that the method extends naturally to the problem of comparing a portion of a model against an image.
Journal ArticleDOI
Neural network-based face detection
TL;DR: A neural network-based upright frontal face detection system that arbitrates between multiple networks to improve performance over a single network, and a straightforward procedure for aligning positive face examples for training.
Journal ArticleDOI
Alignment by Maximization of Mutual Information
Paul A. Viola,William M. Wells +1 more
TL;DR: A new information-theoretic approach is presented for finding the pose of an object in an image that works well in domains where edge or gradient-magnitude based methods have difficulty, yet it is more robust than traditional correlation.
Proceedings ArticleDOI
Method for registration of 3-D shapes
Paul J. Besl,Neil David Mckay +1 more
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.
References
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Dissertation
Determining Shape and Reflectance Using Multiple Images
TL;DR: In this article, the distribution of surface orientation and reflectance factor on the surface of an object can be determined from scene radiances observed by a fixed sensor under varying lighting conditions, which have potential application to the automatic inspection of industrial parts, the determination of the attitude of a rigid body in space and the analysis of images returned from planetary explorers.
Journal ArticleDOI
Shape Matching of Two-Dimensional Objects
Bir Bhanu,Olivier D. Faugeras +1 more
TL;DR: The technique is hierarchical and uses results obtained at low levels to speed up and improve the accuracy of results at higher levels, and has been applied to two-dimensional simple closed curves represented by polygons.
Journal ArticleDOI
Computational Approaches to Image Understanding
TL;DR: Current theoretical developments in Image Understanding are surveyed, among the issues discussed are: edge finding, region finding, texture,shape from shading, shape from texture, shapeFrom contour, and the representations of surfaces and objects.
Journal ArticleDOI
Representation and Shape Matching of 3-D Objects
TL;DR: A three-dimensional scene analysis system for the shape matching of real world 3-D objects is presented and the results are shown on several unknown views of a complicated automobile casting.
Journal ArticleDOI
Mechanics of Locomotion
TL;DR: In this paper, a mathematical model of walking is described that conserves the sum of the kinetic and gravitational potential energies of the body and experiments are described using these principles and others to find the range of stiffness values for a running track that both lowers the potential for injuries and increases running speed.