Sensing and recognition of rigid objects using structured light
Stockman, G.C.
Chen, S.-W.
Hu, G.
Shrikhande, N.
Dept. of Comput. Sci., Michigan State Univ., East Lansing, MI;
This paper appears in: Control Systems Magazine, IEEE
Publication Date: Jun 1988
Volume: 8,
Issue: 3
On page(s): 14-22
ISSN: 0272-1708
References Cited: 16
CODEN: ISMAD7
INSPEC Accession Number: 3199550
Digital Object Identifier: 10.1109/37.472
Current Version Published: 2002-08-06
Abstract
Word directed toward the development of a vision system for bin
picking of rigid 3D objects is reported. Any such system must have
components for sensing, feature extraction, modeling, and matching. A
structured light system which attempts to deliver a rich 21/
2D representation of the scene is described. Surface patches
are evident as connected sets of stripes whose 3D coordinates are
computed by means of triangulation and constraint propagation. Object
edges are detected by the intersection of surface patches or by
backprojecting image edges to intersect with the patches. Two matching
paradigms are given for drawing correspondence between structures in the
scene representation and structures in models. Three major contributions
are reported: a method for sensing object surface patches without having
to solve uniquely for stripe labels; the use of both an intensity image
and a striped image, allowing scenes to be represented by detected edges
along with 3D surface patches; and a pose-clustering algorithm, a
uniform technique to accumulate matching evidence for recognition while
averaging out substantial errors of pose
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