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Proceedings Paper

Recognizing and locating objects with the aid of specially designed markers
Author(s): Jianchao Zeng; Yudong Yang; Mingrui Wu; Guang-you Xu
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Paper Abstract

Teleoperation of complex environments from a remote place requires careful attention of the operator. In such environments as spacestations where operation errors will cause heavy damages, operators need to be well trained and experienced before practical teleoperation. Robot vision will help a lot in recognizing and locating objects in the environments. In such case, feature extraction is very important. Real time processing depends on quick and correct feature extraction of objects. If we place a man-made marker on an object, feature extraction will be much easier than directly extracting natural features of the object. We have developed a practical and robust method for object recognition and location using specially designed markers. Circle, rectangle and triangle are chosen as three primitives, and a marker is formed by combining any two of these primitives. Here primitive combination is used because it can both increase the number of markers without increasing primitives and distinguish markers from complex background. Edge information is mainly utilized in the process of object recognition because edges are relatively long and stable compared with corners. A marker is recognized by first recognizing each primitive in it and then determining their position relation. After recognition, back projective projection of a marker is taken and its 3D pose are calculated by solving spatial plane equations with the aid of parameters of each primitive in the marker such as diameters of a circle, equations of their images in the image plane. Extensive experiments have been done to verify effectiveness of the proposed method and quite good results are obtained for both indoor and outdoor environments, for both recognition and location of objects with markers.

Paper Details

Date Published: 1 December 1995
PDF: 9 pages
Proc. SPIE 2590, Telemanipulator and Telepresence Technologies II, (1 December 1995); doi: 10.1117/12.227943
Show Author Affiliations
Jianchao Zeng, Tsinghua Univ. (China)
Yudong Yang, Tsinghua Univ. (China)
Mingrui Wu, Tsinghua Univ. (China)
Guang-you Xu, Tsinghua Univ. (China)


Published in SPIE Proceedings Vol. 2590:
Telemanipulator and Telepresence Technologies II
Marcos Salganicoff, Editor(s)

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