Rubik's cube reconstruction from single view for service robots

• Autorzy: Kasprzak W. , Szynkiewicz W. , Czajka Ł.
• Konferencja: International Conference on Computer Vision and Graphics ICCVG 2006 (25-27.09.2006 ; Warsaw, Poland)
• Języki publikacji: EN

Abstrakty

EN

The Rubik's cube puzzle is seen as a benchmark for service robots. In such an application, a computer vision subsystem is required to locate the object in space and to determine the configuration of its colored cells. This paper presents a robust algorithm for Rubik's cube reconstruction from a single view in real time. An issue of special interest is to obtain a good tade-off between the quality of results, and the computational complexity of the algorithm.

Słowa kluczowe

EN

color analysis; shape description; segment grouping; service robots; surface orientation; 3D object recognition

• Wydawca: Institute of Information Technology of the Warsaw University of Life Sciences – SGGW
• Czasopismo: Machine Graphics and Vision
• Rocznik: 2006
• Tom: Vol. 15, No. 3/4
• Strony: 451--459
• Opis fizyczny: Bibliogr. 8 poz., rys., tab., wykr.

Twórcy

autor

Kasprzak W.

autor

Szynkiewicz W.

autor

Czajka Ł.

• Warsaw University of Technology, Institute of Control and Computation Eng., ul. Nowowiejska 15-19, PL-00-665 Warsaw

Bibliografia

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• [3] Surm P. F., Maybank S. J.: A method for interactive reconstruction of piecewise planar objects from single views. British Machine Vision Conference, BMVC 1999, BMVA Press 1999, pp. 265-274, 1999.
• [4] Bruce J., Balch T., Veloso M.: Fast and inexpensive color image segmentation for interactive robots. Proc. of the IEEE/RSJ Int. Conference on Intelligent Robots and Systems (IROS'00), volume 3, pp. 2061-2066, 2000.
• [5] Venturino L. et al.: Improving 3D scene reconstruction through the application of geometric constraints. IWSSIP'04. Int. Workshop on Systems, Signals and Image Processing, Poznan University of Technology Press, September, pp. 115-118, 2004.
• [6] Tahri O., Chaumette F.: Point-based and region-based image moment for visual servoing of planar objects. IEEE Transactions on Robotics, 21(6):1116-1127, Dec, 2005.
• [7] Szynkiewicz W., Zieliński C., Czajewski W., Winiarski T.: Control architecture for sensor-based two-handed manipulation. In T. Zielińska and C. Zieliński, editors. CISM Courses and Lectures, number 487, pp. 237-244, Springer, Wien-New York, 2006.
• [8] Zieliński C., Szynkiewicz W., Winiarski T., Staniak M.: Rubik's cube puzzle as a benchmark for service robots. 12th IEEE International Conference on Methods and Models in Automation and Robotics, MMAR'2006 , pp. 579-584, August, 2006.