Fusion of range image and intensity image for 3D shape recognition

Author

Umeda, Kazunori ; Ikushima, Kenji ; Arai, Tamio

Author_Institution

Dept. of Precision Mech., Chuo Univ., Tokyo, Japan

Volume

1

fYear

1996

fDate

22-28 Apr 1996

Firstpage

680

Abstract

This paper presents methods for fusing a range image and an intensity image. The fusion is thought to be an important technology for 3D recognition of an intelligent robot system. In this paper, planar and cylindrical regions are selected as the features from a range image and an edge from an intensity image, and the following methods of fusing the features are proposed and formulated: (1) extraction of planar and cylindrical regions from a range image as the pre-process of the fusion, (2) measurement of 3D edges by fusing a planar region and an edge, (3) update of parameters of a cylindrical region by fusing an edge. Some experiments show the effectiveness of these methods for 3D shape recognition

Keywords

CCD image sensors; edge detection; intelligent control; mobile robots; object recognition; robot vision; sensor fusion; 3D edges; 3D recognition; 3D shape recognition; cylindrical regions; intelligent robot system; intensity image; planar regions; range image; Covariance matrix; Image recognition; Image sensors; Intelligent robots; Intelligent sensors; Machine vision; Object detection; Regions; Robot sensing systems; Shape;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on

Conference_Location

Minneapolis, MN

ISSN

1050-4729

Print_ISBN

0-7803-2988-0

Type

conf

DOI

10.1109/ROBOT.1996.503853

Filename

503853