DocumentCode
457213
Title
Bin-Picking based on Harmonic Shape Contexts and Graph-Based Matching
Author
Kirkegaard, J. ; Moeslund, T.B.
Author_Institution
Image House A/S, Copenhagen
Volume
2
fYear
0
fDate
0-0 0
Firstpage
581
Lastpage
584
Abstract
In this work we address the general bin-picking problem where 3D data is available. We apply harmonic shape contexts (HSC) features since these are invariant to translation, scale, and 3D rotation. Each object is divided into a number of sub-models each represented by a number of HSC features. These are compared with HSC features extracted in the current data using a graph-based scheme. Results show that the approach is somewhat sensitive to noise, but works in presence of occlusion
Keywords
bin packing; feature extraction; 3D data; bin-picking problem; feature extraction; graph-based matching; harmonic shape contexts; Application software; Computer industry; Computer vision; Data mining; Feature extraction; Noise shaping; Robot sensing systems; Robotics and automation; Service robots; Shape;
fLanguage
English
Publisher
ieee
Conference_Titel
Pattern Recognition, 2006. ICPR 2006. 18th International Conference on
Conference_Location
Hong Kong
ISSN
1051-4651
Print_ISBN
0-7695-2521-0
Type
conf
DOI
10.1109/ICPR.2006.325
Filename
1699272
Link To Document