Constraint-based object recognition in multisensor systems

Author

Neira, José ; Montano, Luis ; Tardós, Juan D.

Author_Institution

Dpto. de Ingenieria Electr. e Inf., Zaragoza Univ., Spain

fYear

1993

fDate

2-6 May 1993

Firstpage

135

Abstract

A general procedure to compute and validate geometric constraints between uncertain geometric features is presented. Uncertain geometric information is represented using the symmetries and perturbation model. The procedure obtains the geometric relations between any pair of geometric elements in a systematic way, with an explicit consideration of the uncertainty due to the use of different sensors. It is shown how to use information regarding geometric relations, not only in the validation of hypotheses during the recognition process, but also for the selection of observations that allow the determination of the object location

Keywords

image recognition; sensor fusion; constraint-based object recognition; geometric constraints; multisensor systems; perturbation model; symmetries; uncertain geometric features; uncertainty; Estimation error; Information filtering; Information filters; Multisensor systems; Object recognition; Probability distribution; Sensor phenomena and characterization; Sensor systems; Solid modeling; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on

Conference_Location

Atlanta, GA

Print_ISBN

0-8186-3450-2

Type

conf

DOI

10.1109/ROBOT.1993.291859

Filename

291859