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Proceedings Paper

Segmentation, Modeling And Classification Of The Compact Objects In A Pile
Author(s): Alok Gupta; Gareth Funka-Lea; Kwangyoen Wohn
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Paper Abstract

We discuss the problem of interpreting dense range images obtained from the scene of a heap of man-made objects. We describe a range image interpretation system consisting of segmentation, modeling, verification, and classification procedures. First, the range image is segmented into regions and reasoning is done about the physical support of these regions. Second, for each region several possible 3-D interpretations are made based on various scenarios of the objects physical support. Finally each interpretation is tested against the data for its consistency. We have chosen the superquadric model as our 3-D shape descriptor, plus tapering deformations along the major axis. Experimental results obtained from some complex range images of mail pieces are reported to demonstrate the soundness and the robustness of our approach.

Paper Details

Date Published: 1 March 1990
PDF: 12 pages
Proc. SPIE 1192, Intelligent Robots and Computer Vision VIII: Algorithms and Techniques, (1 March 1990); doi: 10.1117/12.969726
Show Author Affiliations
Alok Gupta, University of Pennsylvania (United States)
Gareth Funka-Lea, University of Pennsylvania (United States)
Kwangyoen Wohn, University of Pennsylvania (United States)


Published in SPIE Proceedings Vol. 1192:
Intelligent Robots and Computer Vision VIII: Algorithms and Techniques
David P. Casasent, Editor(s)

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