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Structured light 3D free form recovering with sub-pixel precision

Wybrane pełne teksty z tego czasopisma
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Warianty tytułu
Języki publikacji
EN
Abstrakty
EN
This paper deals with the 3D Free form object pose recovering problem that is present in several industrial applications, such as online quality control in production as well as image systems for assembly/welding, augmented reality and robotics. The method presented here uses a structured light based vision system to reconstruct several accurate local 3D patches of the objects. A robust sub-pixel method for image features detection has been developed in order to increase 3D reconstruction accuracy. The curvature method is then used to compute a geometric invariant "footprint" to discriminate reconstructed patches, which allows to match them with the object's model. Pose recovering is performed by using the prediction-verification hypotheses paradigm. Some experimental results are given to show the efficiency of the proposed solution when applied to a complex free form object.
Rocznik
Strony
453--476
Opis fizyczny
Bibliogr. 23 poz., rys., tab.
Twórcy
autor
  • Laboratoire des Systemes Complexes, CNRS FRE 2494, 40, rue du Pelvoux, CE1455 - Courouronnes, 91020 Evry Cedex, France
autor
  • Laboratoire des Systemes Complexes, CNRS FRE 2494, 40, rue du Pelvoux, CE1455 - Courouronnes, 91020 Evry Cedex, France
autor
  • Laboratoire des Systemes Complexes, CNRS FRE 2494, 40, rue du Pelvoux, CE1455 - Courouronnes, 91020 Evry Cedex, France
Bibliografia
  • [1] Besl P.J., Jain R. C.: Three dimensional object recognition. Computing Surveys, 17(1), 75-145. 1985.
  • [2] Lambdan Y., Wolfson, H. J.: Geometric hashing: a general and efficient model-based recognition scheme. IEEE Conf. on Computer Vision, 1988, Florida, USA, 238-289. 1988.
  • [3] Nutbourne, A. W., Martin, R. R.: Differential geometry applied to curve and surface design. Ellis Horwood. 1988.
  • [4] Hu, G., Stockman, G.: 3D surface solution using structured light and constraint propagation. IEEE Trans. on PAMI, 11(4), 390-402. 1989.
  • [5] Besl P.J.: The free form surface matching problem. H. Freeman, (Ed.): Machine Vision for Three Dimensional Scenes, AP, 25-71. 1990.
  • [6] Huttenlocher D. P., Ullman S.: Recognizing solid objects by alignment with an image. Int. J. of Computer Vision, 5(2), 195-212. 1990.
  • [7] Besl P.J., McKay N.D.: A method for registration of 3-D shapes. IEEE Trans. on PAMI, 14(2), 239-256. 1992.
  • [8] Deriche G.R., Giraudon G.: A computational approach for corner and vertex Detection. Int. J. of Computer Vision, 10(2), 101-124. 1993.
  • [9] Faugeras O.: Three Dimensional Computer Vision: A Geometric Viewpoint. MIT Press. 1993.
  • [10] Murase H., Nayar S. K.,: Visual learning and recognition of 3D objects from appearance. Int. J. of Computer Vision, 14, 5-24. 1995.
  • [11] Zisserman A., Forsyth D., Mundy J., Rothwell C., Liu J., Pillow N.: 3D object recognition using invariance. Artificial Intelligence, 78, 239-288. 1995.
  • [12] Thirion J. P.: The extremal mesh and the understanding of 3D surfaces. Int. J. of Computer Vision ,19(2), 115-128. 1996.
  • [13] Chua, C. S., Jarvis, R.: Point signature: a new representation for 3D object recognition. Int. J. of Computer Vision, 17, 63-85. 1997.
  • [14] Dorai C., Jain A.K.: COSMOS-a representation scheme for 3D free form objects. IEEE Trans. on PAMI, 19(10), 1115-1130. 1997.
  • [15] Pennec X.: Toward a generic framework for recognition based on uncertain geometric features. J. of Computer Vision Research, 58-87. 1998.
  • [16] Valkenburg R .J., Mclvor A.M.: Accurate 3D measurement using structured light system. Image and Vision Computing, 16(2), 99-110. 1998.
  • [17] Izquierdo M.A.G., Sanchez M.T., Ibanez A., Ullate L.G.: Sub-pixel measurements of 3D surfaces by laser scanning. Sensors and Actuators Journal, 76, 1-8. 1999.
  • [18] Johnson A., Hebert M.: Using spin-images for efficient object recognition in cluttered 3D scenes. IEEE Trans. on PAMI, 21(5), 433-449. 1999.
  • [19] Guisser L., Payrissat R., Castan S: PGSD: an accurate 3D vision system using a projected grid for surface descriptions. Image and Vision Computing, 18, 463-491. 2000.
  • [20] Cambpell R., Flynn P.: A survey of free-form object representation and recognition techniques. CV&IU, 81(2), 166-210. 2001.
  • [21] Rocchini C., Cigoni P., Montani C., Pingi P., Scopigno R.: A low cost 3D scanner based on structuredlight. Eurographics Conf., Interlaken, Switzerland, 299-308. 2001.
  • [22] Shaheen M., Mallem M., Chavand F.: Visual command of a robot using 3D-scene reconstruction in an augmented reality system. Control Engineering Practice, 9, 375-385. 2001.
  • [23] Ababsa F., Roussel D., Mallem M., Didier J.Y.: 2D/3D automatic matching technique for 3D recovering of free form objects. 16th IAPR-IEEE Int. Conf. on Pattern Recognition. Quebec City, Can da. August 11-15, II, 430-433. 2002.
Typ dokumentu
Bibliografia
Identyfikator YADDA
bwmeta1.element.baztech-article-BWA1-0005-0034
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