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Authors: Pilar Merchán 1 ; Antonio Adán 2 and Santiago Salamanca 1

Affiliations: 1 Escuela de Ingenierías Industriales,Universidad de Extremadura, Spain ; 2 Escuela Superior de Informatica, Universidad de Castilla La Mancha, Spain

Keyword(s): 3D Computer Vision, Reconstruction, 3D Object Recognition, Range Image Processing.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Robotics and Automation ; Vision, Recognition and Reconstruction

Abstract: Greatest difficulties arise in 3D environments when we have to deal with a scene with dissimilar objects without pose restrictions and where contacts and occlusions are allowed. This work tackles the problem of correspondence and alignment of surfaces in such a kind of scenes. The method presented in this paper is based on a new representation model called Depth Gradient Image Based on Silhouette (DGI-BS) which synthesizes object surface information (through depth) and object shape information (through contour). Recognition and pose problems are efficiently solved for all objects of the scene by using a simple matching algorithm in the DGI-BS space. As a result of this the scene can be virtually reconstructed. This work is part of a robot intelligent manipulation project. The method has been successfully tested in real experimentation environments using range sensors.

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Paper citation in several formats:
Merchán, P.; Adán, A. and Salamanca, S. (2006). DEPTH GRADIENT IMAGE BASED ON SILHOUETTE - A Solution for Reconstruction of Scenes in 3D Environments. In Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-972-8865-60-3; ISSN 2184-2809, SciTePress, pages 112-119. DOI: 10.5220/0001214401120119

@conference{icinco06,
author={Pilar Merchán. and Antonio Adán. and Santiago Salamanca.},
title={DEPTH GRADIENT IMAGE BASED ON SILHOUETTE - A Solution for Reconstruction of Scenes in 3D Environments},
booktitle={Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2006},
pages={112-119},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001214401120119},
isbn={978-972-8865-60-3},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - DEPTH GRADIENT IMAGE BASED ON SILHOUETTE - A Solution for Reconstruction of Scenes in 3D Environments
SN - 978-972-8865-60-3
IS - 2184-2809
AU - Merchán, P.
AU - Adán, A.
AU - Salamanca, S.
PY - 2006
SP - 112
EP - 119
DO - 10.5220/0001214401120119
PB - SciTePress

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