REAL-TIME LOCALIZATION OF OBJECTS IN TIME-OF-FLIGHT DEPTH IMAGES

Ulrike Thomas

Abstract

In this paper a Random Sample Consensus (Ransac) based algorithm for object localization in time-of-flight depth images is presented. In contrast to many other approaches for pose estimation, the algorithm does not need an inertial guess of the object’s pose, despite it is able to find objects in real time. This is achieved by hashing suitable object features in a pre-processing step. The approach is model based and only needs point clouds of objects, which can either be provided by a CAD systems or acquired from prior taken measurements. The implemented approach is not a simple Ransac approach, because the algorithm makes use of a more progressive sampling strategy, hence the here presented algorithm is rather a Progressive Sampling Consensus (Prosac) approach. As a consequence, the number of necessary iterations is reduced. The implementation has been evaluated with a couple of exemplary scenarios as they occur in real robotic applications. On the one hand, industrial parts are picked out of a bin and on the other hand every day objects are located on a table.

References

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Paper Citation


in Harvard Style

Thomas U. (2012). REAL-TIME LOCALIZATION OF OBJECTS IN TIME-OF-FLIGHT DEPTH IMAGES . In Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2012) ISBN 978-989-8565-03-7, pages 733-737. DOI: 10.5220/0003870707330737


in Bibtex Style

@conference{visapp12,
author={Ulrike Thomas},
title={REAL-TIME LOCALIZATION OF OBJECTS IN TIME-OF-FLIGHT DEPTH IMAGES},
booktitle={Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2012)},
year={2012},
pages={733-737},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003870707330737},
isbn={978-989-8565-03-7},
}


in EndNote Style

TY - CONF
JO - Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2012)
TI - REAL-TIME LOCALIZATION OF OBJECTS IN TIME-OF-FLIGHT DEPTH IMAGES
SN - 978-989-8565-03-7
AU - Thomas U.
PY - 2012
SP - 733
EP - 737
DO - 10.5220/0003870707330737