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3D object recognition using spin-images for a humanoid stereoscopic vision system

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3 Author(s)
Stasse, O. ; AIST/IS-CNRS/STIC Joint Japanese-French Robotics Lab., AIST, Ibaraki ; Dupitier, S. ; Yokoi, K.

This paper presents a 3D object recognition method based on spin-images for a humanoid robot having a stereoscopic vision system. Spin-images have been proposed to search CAD models database, and use 3D range informations. In this context, the use of a vision system is taken into account through a multi-resolution approach. A method for quickly computing multi-resolution and interpolating spin-images is proposed. The results on simulation and on real data are given, and show the effectiveness of this method

Published in:
Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on

Date of Conference: 9-15 Oct. 2006

Page(s):
2955 - 2960
E-ISBN :
1-4244-0259-X
Print ISBN:
1-4244-0258-1
INSPEC Accession Number:
9407785
Conference Location :
Beijing
Digital Object Identifier :
10.1109/IROS.2006.282151
Product Type:
Conference Publications

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