Abstract
This paper details a model-based method for identifying and locating 3D polyhedral multi-articulated objects from a multisensory perceptual system; this system is composed of a 3D laser range finder and a CCD camera, and is mounted on a mobile robot. The method implies first to identify and locate at least one body of the object from the initial robot position, then to search the configuration of the other bodies from other positions if needed.
The initial body recognition algorithm is based on the region-edge-vertex models and the aspect graphs of the bodies, which compose the object; it relies first on a generation of hypotheses performed only with 3D data extracted from the depth map, then on a verification of each pertinent hypothesis, using only 2D data extracted from the reflectance image. Localization of the other bodies can imply to move the perceptual system around the object in order to perceive the joints and to infer relative positions between connected bodies.
In the paper, we describe algorithms developped in order to extract pertinent 3D features from such a perceptual system, to identify and localize a body, and to estimate joints configuration; experimental results performed on our mobile robot Hilare, allow to validate this approach.
This work was carried out under CNES fundings
Preview
Unable to display preview. Download preview PDF.
References
F. Arman and J.K. Aggarwal. Object Recognition in Dense Range Images Using a CAD System as a Model Base. In IEEE International Conference on Robotics and Automation, Cincinnati, (USA), pages 1858–1863, Mai 1990.
P.J. Besl and R.C. Jain. Three dimensional object recognition. ACM computing surveys, 17(1), Mars 1985.
R.C. Bolles. Robust Feature Matching Through Maximal Cliques. In Proceedings of the SPIE's technical symposium on Imaging applications for automated industrial inspection and assembly, volume 182, pages 140–149, 1979.
J. Colly, M. Devy, M. Ghallab, and L.H. Pampagnin. Sensory Control for 3D Environment Modeling. In IARP 1st Workshop on Multi-Sensor Fusion and Environment Modeling, Toulouse (France), Octobre 1989.
M. Devy, J. Colly, and V. Bourdon-Henry. Inspection of a satellite by a multisensory perceptuel system. In IARP 1st Workshop on Robotics in Space, Pisa, june 1991.
M. Devy, J. Colly, P. Grandjean, and Baron. Environment Modelling from a Laser / Camera Multisensor System. In IARP 2nd Workshop on Multi-Sensor Fusion and Environment Modelling, Oxford, U.K., Septembre 1991.
H. Edelsbrunner, J. O'rourke, and R. Seidel. Constructing arrangements of lines and hyperplanes with applications. SIAM Journal on Computing, 15(2):341–363, Mai 1986.
O.D. Faugeras, M. Hebert, and E. Pauchon. Segmentation of Range Data into Planar and Quadratic Surfaces. In IEEE Conference on Computer Vision and Pattern Recognition, Washington, D.C. (USA), pages 8–13, 1983.
D.G. Lowe, Three-dimensional object recognition from single two-dimensional images. Artificial Intelligence, 31:355–395, 1987.
M. Oshima and Y. Shirai. Object Recognition Using 3D Information. IEEE Transactions on Pattern Analysis and Machine Intelligence, 5(4):353–362, Juillet 1983.
L.H. Pampagnin and M. Devy. 3D Objet Identification based on Matching Betwen a Single Image and a Model. In IEEE International Conference on Robotics and Automation, Sacramento, (USA), 1991.
B. Parvin and G. Medioni. Segmentation of Range Images into Planar Surfaces by Split and Merge. In IEEE Conference on Computer Vision and Pattern Recognition, Miami Beach, Florida (USA), pages 415–417, 1986.
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 1993 Springer-Verlag London Limited
About this paper
Cite this paper
Devy, M., Colly, J. (1993). Localization of a multi-articulated 3D object from a mobile multisensor system. In: Chatila, R., Hirzinger, G. (eds) Experimental Robotics II. Lecture Notes in Control and Information Sciences, vol 190. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0036152
Download citation
DOI: https://doi.org/10.1007/BFb0036152
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-19851-2
Online ISBN: 978-3-540-39323-8
eBook Packages: Springer Book Archive