We demonstrate the use of our active object recognition algorithms in a mechanical assembly task. The algorithms are used to classify and estimate the pose of parts of the assembly in different stable rest positions and automatically re-position the camera if the class or pose of an object is ambiguous in a given image. Multiple object views are used in determining both the final object class and pose estimate. The FSTs are analyzed off-line to determine the camera positions that best resolve ambiguities. We also describe methods for rejecting untrained objects and adding new parts to an existing set of FSTs using a new feature update method.

Date Published: 26 August 1999
PDF: 12 pages
Proc. SPIE 3837, Intelligent Robots and Computer Vision XVIII: Algorithms, Techniques, and Active Vision, (26 August 1999); doi: 10.1117/12.360284

Published in SPIE Proceedings Vol. 3837:
Intelligent Robots and Computer Vision XVIII: Algorithms, Techniques, and Active Vision
David P. Casasent, Editor(s)