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Authors: Thilo Grundmann ; Robert Eidenberger ; Martin Schneider and Michael Fiegert

Affiliation: Siemens AG, Germany

ISBN: 978-989-8425-01-0

Keyword(s): Object recognition, 6d Pose estimation, Multi-object scenarios, SIFT, Large database, One-hundred classes.

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

Abstract: For many robotic applications including service robotics robust object classification and 6d object pose determination are of substantial importance. This paper presents an object recognition methodology which is capable of complex multi-object scenes. It handles partial occlusions and deals with large sets of different and alike objects. The object recognition process uses local interest points from the SIFT algorithm as features for object classification. From stereo images spatial information is gained and 6d poses are calculated. All reference data is extracted in an off-line model generation process from large training data sets of a total of 100 different household items. In the recognition phase these objects are robustly identified in sensor measurements. The proposed work is integrated into an autonomous service robot. In various experiments the recognition quality is evaluated and the position accuracy is determined by comparison to ground truth data.

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Paper citation in several formats:
Grundmann T.; Eidenberger R.; Schneider M.; Fiegert M. and (2010). ROBUST 6D POSE DETERMINATION IN COMPLEX ENVIRONMENTS FOR ONE HUNDRED CLASSES.In Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8425-01-0, pages 301-308. DOI: 10.5220/0002951403010308

@conference{icinco10,
author={Thilo Grundmann and Robert Eidenberger and Martin Schneider and Michael Fiegert},
title={ROBUST 6D POSE DETERMINATION IN COMPLEX ENVIRONMENTS FOR ONE HUNDRED CLASSES},
booktitle={Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2010},
pages={301-308},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002951403010308},
isbn={978-989-8425-01-0},
}

TY - CONF

JO - Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - ROBUST 6D POSE DETERMINATION IN COMPLEX ENVIRONMENTS FOR ONE HUNDRED CLASSES
SN - 978-989-8425-01-0
AU - Grundmann, T.
AU - Eidenberger, R.
AU - Schneider, M.
AU - Fiegert, M.
PY - 2010
SP - 301
EP - 308
DO - 10.5220/0002951403010308

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