Summary
A new method is presented for 3-D curved object recognition by modeling the scenes and models as quadrics. The parameters of quadrics are converted into features which include Euler parameters accounting for the orientation of the surface. The matching process consists of finding a transformation of the model surfaces and devising a measure of consistency such that the error between the feature spaces of the model and the scene is a minimum.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Chin, R T., Dyer, C. R.:(1986) Model-based recognition in robot vision, in ACM Comput Surveys 18, 1 (1986) 67–108
Besl P.J. Jain R.C.: Three Dimensional object recognition, Comput. Surveys 17, 1 (1985) 75–145.
Fisher, RB.: From Surfaces to Objects” Computer Vision and Three Dimensional Analysis, John Wiley & Sons Ltd., 1989
Faugeras, O.D.; Hebert,M.: A 3-D recognition and positioning algorithm using Bee tan 1c between pr between surfaces, in Praceedings,8th IJCAI, (1983)996–1002.
Faugeras, O.D., Hebert, M.: The representation, Recognition and locating of 3-d objects, The int. J. Rob. Res. 3 (1986) 27–52
Hall,E.L,Ti,J.B.K MCPhggn,C A Dr ri,C S.Sadiadi F A: Me suring Curved surfaces for, robot vision, lEËE Traerns. Computer, (1989) 42–54
Wani, M.A., Biswa K.K.: A parallel algorithm for range image-segmentation, communicated to IEEE Trans. Pattern. Anal.Mach. InTell. PAIVII,1989.
Cou J.C.K.,Kamel,M.:Quat rnions approach to solve the kinematic Aa Ax = Ax Ab of a robotic manipulator, in Proceedings, IEEE Int. Conf. Rob. Automation,(1988) 656–662.
Paul, R.P.: Robot Manipulators: Mathematics, Programming and Control, MIT Press 1981.
Hanmandlu,M.;I3angaiah,C.;Bi$was,K.K.:A new matching technique for 3-D obiect rnMtion communicated to Int.J.Comp.Visron,Grapnics&lmage Processing(1990).
Shapiro, L., Haralick, R.: Structural descriptions and inexact matching,IEEE Trans. Pattern. Anal. Mach. Intell., PAMM, 3 (1981) 504–519.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 1991 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Hanmandlu, M., Rangaiah, C., Biswas, K.K. (1991). Model Based 3-D Curved Object Recognition Using Quadrics. In: Dwivedi, S.N., Verma, A.K., Sneckenberger, J.E. (eds) CAD/CAM Robotics and Factories of the Future ’90. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-84338-9_31
Download citation
DOI: https://doi.org/10.1007/978-3-642-84338-9_31
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-84340-2
Online ISBN: 978-3-642-84338-9
eBook Packages: Springer Book Archive