OBJECT VOLUMETRIC ESTIMATION BASED ON GENERIC FITTED PRIMITIVES FOR SERVICE ROBOTICS

Tiberiu T. Cociaș, Sorin M. Grigorescu, Florin Moldoveanu

Abstract

This paper present an approach for object surface estimation from a single perspective using a stereo camera configuration. The goal of the method is to capture the particularity of an object of interest by fitting a generic primitive who best models the recognized shape. The shape modeling process is performed on 3D Regions of Interest (ROI) obtained by classifying the objects present in disparity maps. The principle uses a number of control points, calculated from the primitive Point Distribution Model (PDM). These control points drive the modeling behavior in the disparity point cloud data based on the principle of active contours, or snakes. Finally a compact 3D object mesh can be generated using Delaunay triangulation. The obtained PDM models are intended to be used for the purpose of precise object manipulation in service robotics applications.

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Paper Citation


in Harvard Style

Cociaș T., Grigorescu S. and Moldoveanu F. (2012). OBJECT VOLUMETRIC ESTIMATION BASED ON GENERIC FITTED PRIMITIVES FOR SERVICE ROBOTICS . In Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 2: VISAPP, (VISIGRAPP 2012) ISBN 978-989-8565-04-4, pages 191-197. DOI: 10.5220/0003862801910197


in Bibtex Style

@conference{visapp12,
author={Tiberiu T. Cociaș and Sorin M. Grigorescu and Florin Moldoveanu},
title={OBJECT VOLUMETRIC ESTIMATION BASED ON GENERIC FITTED PRIMITIVES FOR SERVICE ROBOTICS},
booktitle={Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 2: VISAPP, (VISIGRAPP 2012)},
year={2012},
pages={191-197},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003862801910197},
isbn={978-989-8565-04-4},
}


in EndNote Style

TY - CONF
JO - Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 2: VISAPP, (VISIGRAPP 2012)
TI - OBJECT VOLUMETRIC ESTIMATION BASED ON GENERIC FITTED PRIMITIVES FOR SERVICE ROBOTICS
SN - 978-989-8565-04-4
AU - Cociaș T.
AU - Grigorescu S.
AU - Moldoveanu F.
PY - 2012
SP - 191
EP - 197
DO - 10.5220/0003862801910197