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Proceedings Paper

Matching 3D segmented objects using wire frame analysis
Author(s): Charles R. Allen; Stephan O'Brien
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Paper Abstract

This paper describes a novel technique in 3D sensory fusion for autonomous mobile vehicles. The primary sensor is a monocular camera mounted on a robot manipulator which pans to up to three positions on a 0.5 m vertical circle, while mounted on the mobile vehicle. The passive scene is analyzed using a method of inverse perspective, which is described and the resulting scene analysis comprises 3D wire frames of all surfaces detected in 3D. The 3D scene analysis uses a dual T-800 transputer based multiprocessor which cycles through generating primary scene information at rates of 1 update per 10 seconds. A PC-based 3D matching algorithm is then used to match the segmented objects to a database of pre-taught 3D wire frames. The matching software is written in Prolog.

Paper Details

Date Published: 6 August 1993
PDF: 10 pages
Proc. SPIE 2056, Intelligent Robots and Computer Vision XII: Active Vision and 3D Methods, (6 August 1993); doi: 10.1117/12.150190
Show Author Affiliations
Charles R. Allen, Univ. of Newcastle upon Tyne (United Kingdom)
Stephan O'Brien, Univ. of Newcastle upon Tyne (United Kingdom)

Published in SPIE Proceedings Vol. 2056:
Intelligent Robots and Computer Vision XII: Active Vision and 3D Methods
David P. Casasent, Editor(s)

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