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Invariant image representation: A path toward solving the bin-picking problem

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2 Author(s)
Jacobson, Lowell ; Unniversity of Minnesota, Minneapolis, MN ; Wechsler, H.

We review the definition of the bin-picking problem and briefly summarize past approaches toward its solution, arguing that a major problem with conventional approaches is their reliance upon impoverished image representations. We then describe a recently developed image representation that uniquely encodes the information in a grey-scale image, decouples the effects of illumination, reflectance, and angle of incidence, and is invariant, within a linear shift, to perspective, position, orientation, and size of all planar forms. This representation is composed of discrete approximations to the complex-logarithmic conformally mapped Wigner distributions of multiple deprojection images. Such a representation could open the frontiers to the development of general-purpose robot vision systems which routinely perform size, orientation, and perspective invariant part recognition while also specifying part location and attitude in 3-D space.

Published in:

Robotics and Automation. Proceedings. 1984 IEEE International Conference on  (Volume:1 )

Date of Conference:

Mar 1984