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Vision will be increasingly important in robotics applications. An object is modeled by critical curves extracted from the object. In the simplest case the object's curve is its outline. A solution to the curve partitioning problem is shown for nonconvex objects. Curves are described in a rotation and translation invariant way. A way to build a combined model database of many classes of objects is presented. A test to insure disjointness of model classes is given. An efficient technique for computing a network of these curves from a gray-level frame is presented. A graph algorithm is presented to match the model in an efficient way, independent of the scaling found in the scene. A technique for computing and classifying more general critical curves from three-dimensional data is developed.
Robotics and Automation. Proceedings. 1984 IEEE International Conference on (Volume:1 )
Date of Conference: Mar 1984