DocumentCode :
1876257
Title :
Incremental object part detection toward object classification in a sequence of noisy range images
Author :
Gachter, Stefan ; Harati, Ahad ; Siegwart, Roland
Author_Institution :
Autonomous Syst. Lab. (ASL), ETH Zurich, Zurich
fYear :
2008
fDate :
19-23 May 2008
Firstpage :
4037
Lastpage :
4042
Abstract :
This paper presents an incremental object part detection algorithm using a particle filter. The method infers object parts from 3D data acquired with a range camera. The range information is quantized and enhanced by local structure to partially cope with considerable measurement noise and distortion. The augmented voxel representation allows the adaptation of known track-before-detect algorithms to infer multiple object parts in a range image sequence even when each single observation does not contain enough information to do the detection. The appropriateness of the method is successfully demonstrated by two experiments for chair legs.
Keywords :
cameras; image classification; image representation; image sequences; object detection; optical tracking; particle filtering (numerical methods); augmented voxel representation; image distortion; image sequence; incremental object part detection; noisy range images; object classification; particle filter; range camera; track-before-detect algorithm; Cameras; Distortion measurement; Layout; Leg; Noise measurement; Object detection; Particle filters; Radar tracking; Robot vision systems; Target tracking;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on
Conference_Location :
Pasadena, CA
ISSN :
1050-4729
Print_ISBN :
978-1-4244-1646-2
Electronic_ISBN :
1050-4729
Type :
conf
DOI :
10.1109/ROBOT.2008.4543831
Filename :
4543831
Link To Document :
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