漸増的メッシュモデリングとその階層的認識法による実時間三次元物体認識システムの研究  [in Japanese] A Real-time 3D Recognition System by Incremental Mesh Modeling and Hierarchical Object Matching Methods  [in Japanese]

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Author(s)

Abstract

This paper describes the vision system which recognizes 3-D objects in real-time by modeling shape of objects and matching the generated models. We develop following methods to practically solve the indispensable problems of integration, like the estimation of sensor accuracy and real-time processing: 1) We generate hierarchical mesh models in real-time by reduction of computation of signed-distance which is necessary to apply Marching Cubes Algorithm and selecting the optimal resolution of models to be generated using Octree. 2) We efficiently match multiple objects of different size by applying Spin-image matching with selecting the resolution of generated models and the coarse-to-fine algorithm.

Journal

  • Journal of the Robotics Society of Japan

    Journal of the Robotics Society of Japan 20(1), 98-106, 2002-01-15

    The Robotics Society of Japan

References:  23

Cited by:  4

Codes

  • NII Article ID (NAID)
    10008212858
  • NII NACSIS-CAT ID (NCID)
    AN00141189
  • Text Lang
    JPN
  • Article Type
    Journal Article
  • ISSN
    02891824
  • NDL Article ID
    6042508
  • NDL Source Classification
    ZN11(科学技術--機械工学・工業)
  • NDL Call No.
    Z16-1325
  • Data Source
    CJP  CJPref  NDL  J-STAGE 
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