Model based 3D object recognition using an accurate laser range finder

A complete experimental set-up for range finding and the software developed for its control is presented. The results obtained are used not only to provide numerical information of objects' pose in a scene to a high level task planner of a robotic system, but also to identify them. For that purpose, a method using height histograms is proposed. The results obtained are used not only to provide numerical information of objects' pose in a scene to a high level task planner of a robotic system, but also to identify them. For that purpose, a method using height histograms is proposed.<
>