A fuzzy ICP algorithm for 3D free-form object recognition

Author

Krebs, Bjöm ; Sieverding, Peter ; Korn, Bemd

Author_Institution

Inst. for Robotics & Comput. Control, Tech. Univ. Braunschweig, Germany

Volume

1

fYear

1996

fDate

25-29 Aug 1996

Firstpage

539

Abstract

We propose a new object matching algorithm which can separate overlapping objects and which is robust against erroneous data. The algorithm is based on the well-known iterative closest point (ICP) algorithm. However all published contributions to the ICP algorithm can not provide a proper segmentation of the input data. A fuzzy ICP algorithm can handle these problems by a fuzzy membership valuation at each iteration level. Furthermore, we introduce an evidence accumulation algorithm which allows a determination of the best match. In combination with search routines for the most common CAD models we provide powerful and efficient tools for CAD based object recognition systems

Keywords

computer vision; 3D free-form object recognition; CAD based vision; CAD models; fuzzy iterative closest point algorithm; fuzzy membership; fuzzy set theory; overlapping objects; search algorithm; Clustering algorithms; Cost accounting; Design automation; Fuzzy sets; Iterative algorithms; Iterative closest point algorithm; Object recognition; Robot control; Robustness; Shape;

fLanguage

English

Publisher

ieee

Conference_Titel

Pattern Recognition, 1996., Proceedings of the 13th International Conference on

Conference_Location

Vienna

ISSN

1051-4651

Print_ISBN

0-8186-7282-X

Type

conf

DOI

10.1109/ICPR.1996.546084

Filename

546084