MORAL — A vision-based object recognition system for autonomous mobile systems

  • Stefan Lanser
  • Christoph Zierl
  • Olaf Munkelt
  • Bernd Radig
Object Recognition and Tracking
Part of the Lecture Notes in Computer Science book series (LNCS, volume 1296)


One of the fundamental requirements for an autonomous mobile system (AMS) is the ability to navigate within an à priori known environment and to recognize task-specific objects, i.e., to identify these objects and to compute their 3D pose relative to the AMS. For the accomplishment of these tasks the AMS has to survey its environment by using appropriate sensors. This contribution presents the vision-based 3D object recognition system MORAL1, which performs a model-based interpretation of single video images of a CCD camera. Using appropriate parameters, the system can be adapted dynamically to different tasks. The communication with the AMS is realized transparently using remote procedure calls. As a whole this architecture enables a high level of flexibility with regard to the used hardware (computer, camera) as well as to the objects to be recognized.


Mobile Robot Object Recognition Tool Center Point Remote Procedure Call Object Recognition System 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 1997

Authors and Affiliations

  • Stefan Lanser
    • 1
  • Christoph Zierl
    • 1
  • Olaf Munkelt
    • 1
  • Bernd Radig
    • 1
  1. 1.Forschungsgruppe Bildverstehen (FG BV), Informatik IXTechnische Universität MünchenMünchenGermany

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