Matching 3D segmented objects using wire frame analysis

Charles R. Allen; Stephan O'Brien

doi:10.1117/12.150190

6 August 1993 Matching 3D segmented objects using wire frame analysis

Charles R. Allen, Stephan O'Brien

Proceedings Volume 2056, Intelligent Robots and Computer Vision XII: Active Vision and 3D Methods; (1993) https://doi.org/10.1117/12.150190
Event: Optical Tools for Manufacturing and Advanced Automation, 1993, Boston, MA, United States

Abstract

This paper describes a novel technique in 3D sensory fusion for autonomous mobile vehicles. The primary sensor is a monocular camera mounted on a robot manipulator which pans to up to three positions on a 0.5 m vertical circle, while mounted on the mobile vehicle. The passive scene is analyzed using a method of inverse perspective, which is described and the resulting scene analysis comprises 3D wire frames of all surfaces detected in 3D. The 3D scene analysis uses a dual T-800 transputer based multiprocessor which cycles through generating primary scene information at rates of 1 update per 10 seconds. A PC-based 3D matching algorithm is then used to match the segmented objects to a database of pre-taught 3D wire frames. The matching software is written in Prolog.

Citation Download Citation

Charles R. Allen and Stephan O'Brien "Matching 3D segmented objects using wire frame analysis", Proc. SPIE 2056, Intelligent Robots and Computer Vision XII: Active Vision and 3D Methods, (6 August 1993); https://doi.org/10.1117/12.150190

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