Referenced Items are not available for this document.
A vision system to recognize 3-D objects in a scene and to evaluate their attitude is presented. This system uses a model-based approach to determine the attitude of 3-D industrial parts in the context of bin packing. It is based on the matching of the extended Gaussian image (EGI) extracted from the surface normal map (needle map) of an observed object with the EGI generated from a 3-D model using geometric modeling. It is shown that geometric modeling can be used to provide an object description (visible surface orientation referred to as a needle map) suited to the problem of 3-D object recognition and attitude evaluation
Published in:
Circuits and Systems, IEEE Transactions on
(Volume:35
,
Issue:
5
)
Date of Publication: May 1988
- Page(s):
- 545 - 553
- ISSN :
- 0098-4094
- INSPEC Accession Number:
- 3213020
- Digital Object Identifier :
- 10.1109/31.1782
- Product Type:
- Journals & Magazines
- Date of Current Version :
- 06 August 2002
- Issue Date :
- May 1988
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