APPEARANCE-BASED AND ACTIVE 3D OBJECT RECOGNITION USING VISION

F. Trujillo-Romero, M. Devy

Abstract

This paper concerns 3D object recognition from vision. In our robotics context,an object must be recognized and localized in order to be grasped by a mobile robot equipped with a manipulator arm: several cameras are mounted on this robot, on a static mast or on the wrist of the arm. The use of such a robot for object recognition, makes possible active strategies for object recognition. This system must be able to place the sensor in different positions around the object in order to learn discriminant features on every object to be recognized in a first step, and then to recognize these objects before a grasping task. Our method exploits the Mutual Information to actively acquire visual data until the recognition, like it was proposed in works presented in (Denzler and Brown, 2000) and (Denzler et al., 2001): color histogram, shape context, shape signature, Harris or Sift points descriptors are learnt from different viewpoint around every object in order to make the system more robust and efficient.

References

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Paper Citation


in Harvard Style

Trujillo-Romero F. and Devy M. (2009). APPEARANCE-BASED AND ACTIVE 3D OBJECT RECOGNITION USING VISION . In Proceedings of the Fourth International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2009) ISBN 978-989-8111-69-2, pages 417-424. DOI: 10.5220/0001805604170424


in Bibtex Style

@conference{visapp09,
author={F. Trujillo-Romero and M. Devy},
title={APPEARANCE-BASED AND ACTIVE 3D OBJECT RECOGNITION USING VISION},
booktitle={Proceedings of the Fourth International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2009)},
year={2009},
pages={417-424},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001805604170424},
isbn={978-989-8111-69-2},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fourth International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2009)
TI - APPEARANCE-BASED AND ACTIVE 3D OBJECT RECOGNITION USING VISION
SN - 978-989-8111-69-2
AU - Trujillo-Romero F.
AU - Devy M.
PY - 2009
SP - 417
EP - 424
DO - 10.5220/0001805604170424