Active object recognition

Author

Wilkes, David ; Tsotsos, John K.

Author_Institution

Dept. of Comput. Sci., Toronto Univ., Ont., Canada

fYear

1992

fDate

15-18 Jun 1992

Firstpage

136

Lastpage

141

Abstract

The concept of active object recognition is introduced, and a proposal for its solution is described. The camera is mounted on the end of a robot arm on a mobile base. The system exploits the mobility of the camera by using low-level image data to drive the camera to a standard viewpoint with respect to an unknown object. From such a viewpoint, the object recognition task is reduced to a two-dimensional pattern recognition problem. The system uses an efficient tree-based, probabilistic indexing scheme to find the model object that is likely to have generated the observed data, and for line tracking uses a modification of the token-based tracking scheme of J.L. Crowley et al. (1988). The system has been successfully tested on a set of origami objects. Given sufficiently accurate low-level data, recognition time is expected to grow only logarithmically with the number of objects stored

Keywords

computer vision; image recognition; 2D pattern recognition; active object recognition; line tracking; low-level image data; mobile base; object recognition; origami objects; probabilistic indexing; recognition time; robot arm; token-based tracking; two-dimensional pattern recognition; Cameras; Computer science; Geometry; Image recognition; Light sources; Mobile robots; Object recognition; Pattern recognition; Proposals; Robot vision systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer Vision and Pattern Recognition, 1992. Proceedings CVPR '92., 1992 IEEE Computer Society Conference on

Conference_Location

Champaign, IL

ISSN

1063-6919

Print_ISBN

0-8186-2855-3

Type

conf

DOI

10.1109/CVPR.1992.223215

Filename

223215