Title :
A model-based 3-D vision system for bin-picking
Author :
Distante, Arcangelo ; Ancona, Nicola ; Attolico, Giovanni ; Caponetti, Laura ; Chiaradia, Maria ; Stella, Ettore
Author_Institution :
Istituto di Elaborzione Segnali ed Immagini, Bari, Italy
fDate :
5/1/1988 12:00:00 AM
Abstract :
A vision system to recognize 3-D objects in a scene and to evaluate their attitude is presented. This system uses a model-based approach to determine the attitude of 3-D industrial parts in the context of bin packing. It is based on the matching of the extended Gaussian image (EGI) extracted from the surface normal map (needle map) of an observed object with the EGI generated from a 3-D model using geometric modeling. It is shown that geometric modeling can be used to provide an object description (visible surface orientation referred to as a needle map) suited to the problem of 3-D object recognition and attitude evaluation
Keywords :
computer vision; computerised pattern recognition; computerised picture processing; 3-D industrial parts; 3-D object recognition; attitude evaluation; bin-picking; extended Gaussian image; geometric modeling; model-based 3-D vision system; needle map; Calibration; Circuits and systems; Layout; Machine vision; Object recognition; Photometry; Robot vision systems; Service robots; Smoothing methods; Stereo vision;
Journal_Title :
Circuits and Systems, IEEE Transactions on
