3D object recognition using deformable model for negating sensing error

Nobutaka Kimura; Toshio Moriya

doi:10.1117/12.804913

2 February 2009 3D object recognition using deformable model for negating sensing error

Nobutaka Kimura, Toshio Moriya

Proceedings Volume 7251, Image Processing: Machine Vision Applications II; 72510K (2009) https://doi.org/10.1117/12.804913
Event: IS&T/SPIE Electronic Imaging, 2009, San Jose, California, United States

Abstract

Focusing on 3D object recognition for handling-robot tasks, we developed a registration method for point data measured from a real object and model surfaces. On the basis of the iterative-closest-point (ICP) algorithm, we proposed a registration technique that deforms model shapes instead of correcting measured range data including distance errors. We call our technique a "viewpoint-dependent remodeling ICP" algorithm. Even when a laser range finder only is used, this technique can reduce the effects of errors depending on surface characteristics such as colors and reflectance properties. In the preliminary stages, the relationships between distance errors and surface characteristics of points on object surfaces are determined and added to the models. In object recognition stages, we measure point data, and do registration while changing the model position and attitude and deforming the model shape. The deformation depends on the relationships and the relative positions of the model surfaces and the sensor position. In preliminary experimental tests, we measured distances to black and white papers and evaluated the distance errors. Moreover, we simulated recognizing the bottle covered with these papers. In this simulation, it was verified that our technique has convergence and improves accuracy of correspondence estimations between measured data and models.

Citation Download Citation

Nobutaka Kimura and Toshio Moriya "3D object recognition using deformable model for negating sensing error", Proc. SPIE 7251, Image Processing: Machine Vision Applications II, 72510K (2 February 2009); https://doi.org/10.1117/12.804913

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available

Members: $17.00

Non-members: $21.00 ADD TO CART

PROCEEDINGS
8 PAGES

DOWNLOAD PAPER SAVE TO MY LIBRARY

GET CITATION

RIGHTS & PERMISSIONS

Get copyright permission Get copyright permission on Copyright Marketplace

KEYWORDS

Data modeling

3D modeling

Detection and tracking algorithms

Sensors

Object recognition

Distance measurement

Computer simulations

Show All Keywords

Keywords/Phrases

Search In:

Publication Years