Contributions to a 3-D robot vision system: silhouette analysis and evidential reasoning
Hartung-Gorre Verlag, 1993 - Computers - 108 pages
"This contribution originates in the framework of the interdisciplinary, application oriented project "Cooperating Robot" (COR). It contributes to the realization of a robot vision system for the task defined in the project: to build a robot capable of recognizing and clearing objects placed on a tray in a cafeteria. It addresses problems of acquiring 3-D informaiton of transparent and specularly reflecting objects, robust and fast multi-knowledge source recognition scheme and precise object position determination"--P. ix.
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algorithm approximated axes camera certainty factor circular arc collinear computed computer vision concave corners contour points convex COR vision system corner points corresponding criterion curvature cutlery pieces DBowl defined dessert bowl detect digital curves direction angle ETH Zurich evidence accumulation evidence weights example contour example scene feature extraction Figure Glass graph matching gray-level image heuristics Hough transform hpiv hypothesis image coordinates inflection points line segments linear matcher matching algorithm merging microsymmetries model base model nodes model object multiple object scenes object models object recognition obtained occlusion pairs parallel parallel 9 pixels position calculation Ppiv primitives problem radius range data recognized object relations result ribbon robot vision system rotation rule base Salad Bowl scene graph scene nodes secant method segmented contour separator domains significant points silhouettes SouBowl soup bowl straight line segments surface patches symmetry axis technique top rad unary constraint values