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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Noncontact Visual Three-Dimensional Ranging Devices
Takeo Kanade,Haruhiko Asada +1 more
TL;DR: In this article, the authors describe design and development of two types of 3D ranging devices for robotic applications: both are noncontact, optical devices based on active illumination and triangulation.
Sequins and Quills - Representations for Surface Topography.
TL;DR: The shape of a continuous surface can be represented by a collection of surface normals, which are like a porcupine's quills, and the surface patches on which these normals rest are like sequins sewn on a costume.
Determining Attitude of Object From Needle Map Using Extended Gaussian Image
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Industrial Computer Vision in Japan
TL;DR: Japanese research in pattern analysis and machine intelligence has focused on industrial applications, and a number of successful computer vision systems are now employed in Japanese manufacturing.
Book ChapterDOI
Real-Time Processing of Binary Images for Industrial Applications
TL;DR: The whole workplace must be engineered in order to reach practical solutions in Image Analysis Systems, and important applications are visual inspection, sensor-controlled handling and assembly, and the control of tools, machines, or processes.