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HYPER: A New Approach for the Recognition and Positioning of Two-Dimensional Objects

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2 Author(s)
Nicholas Ayache ; Computer Vision and Robotics Group, INRIA, 78153 Le Chesnay Cedex, France. ; Olivier D. Faugeras

A new method has been designed to identify and locate objects lying on a flat surface. The merit of the approach is to provide strong robustness to partial occlusions (due for instance to uneven lighting conditions, shadows, highlights, touching and overlapping objects) thanks to a local and compact description of the objects boundaries and to a new fast recognition method involving generation and recursive evaluation of hypotheses named HYPER (HY potheses Predicted and Evaluated Recursively). The method has been integrated within a vision system coupled to an indutrial robot arm, to provide automatic picking and repositioning of partially overlapping industrial parts.

Published in:

IEEE Transactions on Pattern Analysis and Machine Intelligence  (Volume:PAMI-8 ,  Issue: 1 )