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
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;
Conference_Titel :
Pattern Recognition, 2006. ICPR 2006. 18th International Conference on
Conference_Location :
Hong Kong
Print_ISBN :
0-7695-2521-0
DOI :
10.1109/ICPR.2006.325
