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Authors: E. González 1 ; V. Feliú 1 ; A. Adán 2 and Luis Sánchez 3

Affiliations: 1 H.T.S. of Industrial Engineering, University of Castilla La Mancha, Spain ; 2 Higher School of Informatics ,University of Castilla La Mancha, Spain ; 3 U.E of Technical Industrial Engineering,University of Castilla La Mancha, Spain

ISBN: 978-972-8865-83-2

ISSN: 2184-2809

Keyword(s): Active recognition system, next best view, silhouette shape, Fourier descriptors.

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

Abstract: This paper presents a new 3D object recognition/pose strategy based on reduced sets of Fourier descriptors on silhouettes. The method consists of two parts. First, an off-line process calculates and stores a clustered Fourier descriptors database corresponding to the silhouettes of the synthetic model of the object viewed from multiple viewpoints. Next, an on-line process solves the recognition/pose problem for an object that is sensed by a real camera placed at the end of a robotic arm. The method avoids ambiguity problems (object symmetries or similar projections belonging to different objects) and erroneous results by taking additional views which are selected through an original next best view (NBV) algorithm. The method provides, in very reduced computation time, the object identification and pose of the object. A validation test of this method has been carried out in our lab yielding excellent results.

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Paper citation in several formats:
González E.; Feliú V.; Adán A.; Sánchez L. and (2007). ACTIVE 3D RECOGNITION SYSTEM BASED ON FOURIER DESCRIPTORS.In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 978-972-8865-83-2, pages 318-325. DOI: 10.5220/0001627003180325

@conference{icinco07,
author={E. González and V. Feliú and A. Adán and Luis Sánchez},
title={ACTIVE 3D RECOGNITION SYSTEM BASED ON FOURIER DESCRIPTORS},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2007},
pages={318-325},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001627003180325},
isbn={978-972-8865-83-2},
}

TY - CONF

JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - ACTIVE 3D RECOGNITION SYSTEM BASED ON FOURIER DESCRIPTORS
SN - 978-972-8865-83-2
AU - González, E.
AU - Feliú, V.
AU - Adán, A.
AU - Sánchez, L.
PY - 2007
SP - 318
EP - 325
DO - 10.5220/0001627003180325

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