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Proceedings Paper

3-D Location And Recognition Of Polyhedric Objects
Author(s): N. Laieb; N. Tonfack; A. Faure
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Paper Abstract

In the present state of the art, the importance of the artificial vision in robotics, industries and the necessity of robot presence in hostile environment is not yet to prove. The vision systems that already exist are type application dependent. There are three main classes of the stereo vision systems : - The laser imaging are potentially hazardous and has difficulties with shiny metal reflective surfaces. At present, it is a more expensive depth sensing technology than the other methods stated bellow ; - Photometric stereo puts great demands on the illumination in the scene and properly undestanding the reflectance properties of the object to be viewed ; - Whenever, the binocular stereo vision can be used in a wide range of illuminations and object domains. It is a well understood method. Its low cost motivate its use in a generalized robotics environment, neverless, the difficulties encountered when one want to put in correspondance the two images of the stereo pair. This paper presents one binocular stereo vision system, applied to the polyhedric objects, which performs in a first time the features extraction and 3-D coordinates determination of the vertices. In a second time, it also permits the recognition of objects that have been already modelled on data-base and characterised on an appropriate knowledge-base. The principal operations performed by our system are : - The image processing (segmentation, edge extraction and idealization, skeleton...) ; - Object's location (vertices extraction and the determination of their 3-D coor-dinates...) ; - Object recognition (pertinent features extraction, knowledge base establishement and object identification). Experimental results are already obtained in our laboratory.

Paper Details

Date Published: 19 February 1988
PDF: 9 pages
Proc. SPIE 0848, Intelligent Robots and Computer Vision VI, (19 February 1988); doi: 10.1117/12.942776
Show Author Affiliations
N. Laieb, Universite du Havre (France)
N. Tonfack, Universite du Havre (France)
A. Faure, Universite du Havre (France)

Published in SPIE Proceedings Vol. 0848:
Intelligent Robots and Computer Vision VI
David P. Casasent; Ernest L. Hall, Editor(s)

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