Model-based 3D object recognition by a hybrid hypothesis generation and verification approach

Philippe Gingins; Heinz Huegli

doi:10.1117/12.188936

10 October 1994 Model-based 3D object recognition by a hybrid hypothesis generation and verification approach

Philippe Gingins, Heinz Huegli

Proceedings Volume 2353, Intelligent Robots and Computer Vision XIII: Algorithms and Computer Vision; (1994) https://doi.org/10.1117/12.188936
Event: Photonics for Industrial Applications, 1994, Boston, MA, United States

Abstract

We present a model-based 3D object recognition architecture that combines pose estimation derived from range images and hypothesis verification derived from intensity images. The architecture takes advantage of the geometrical nature of range images for generating a number of hypothetical poses of objects. Pose and object models are then used to reconstruct a synthetic view of the scene to be compared to the real intensity image for verification. According to the architecture a system has been implemented and successful experiments have been performed with boxes of different shapes and textures. Recognition with our approach is precise and robust. In particular verification can detect false poses resulting from wrong groupings. In addition, the system provides the interesting features to recognize the true pose of shape-symmetrical objects and also to recognize objects that are ambiguous from their sole shape.

Citation Download Citation

Philippe Gingins and Heinz Huegli "Model-based 3D object recognition by a hybrid hypothesis generation and verification approach", Proc. SPIE 2353, Intelligent Robots and Computer Vision XIII: Algorithms and Computer Vision, (10 October 1994); https://doi.org/10.1117/12.188936

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