Model-based 3D object recognition using intensity and range images

Emerico Natonek; Charles Baur

doi:10.1117/12.181012

29 July 1994 Model-based 3D object recognition using intensity and range images

Emerico Natonek, Charles Baur

Proceedings Volume 2234, Automatic Object Recognition IV; (1994) https://doi.org/10.1117/12.181012
Event: SPIE's International Symposium on Optical Engineering and Photonics in Aerospace Sensing, 1994, Orlando, FL, United States

Abstract

This paper describes a model based vision system in which a commercial 3-D computer graphics system has been used for object modeling and visual clue generation. Given the computer generated model image (i.e., color, depth, ...) a conventional CCD camera image and the corresponding scanned 3-D dense range map of the real scene, the object can be located in it. Our system, called three dimensional model based approach (3D-MBA), uses image pyramid of resolution and prediction-verification processes. To optimize the object recognition scheme, it first forms a set of hypotheses about the objects present in the scene and then proceeds by trying to confirm/reject them. If any part of the object hypothesis is missing, the system uses the object model to predict the shape, location, and orientation of that missing part. This paper focuses on how this is done using newly developed segmentation algorithms extracting `regions of interest' from range images (depth map) of the scene. Illustrative examples of object recognition in simple and complex scenes are presented.

Citation Download Citation

Emerico Natonek and Charles Baur "Model-based 3D object recognition using intensity and range images", Proc. SPIE 2234, Automatic Object Recognition IV, (29 July 1994); https://doi.org/10.1117/12.181012

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available