Name
Abstract | ||
|---|---|---|
The paper describes the Sheffield AIVRU 3D vision system for robotics. The system currently supports model-based object recognition and location; its potential for robotics applications is demonstrated by its guidance of a UMI robot arm in a pick-and-place task. The system comprises: recovery of a sparse depth map using edgebased passive stereo triangulation; grouping, description and segmentation of edge segments to recover a 3D description of the scene geometry in terms of straight lines and circular arcs; statistical combination of 3D descriptions for the purpose of object model creation from multiple stereo views, and the propagation of constraints for within-view refinement; and matching 3D wireframe models to 3D scene descriptions to recover an initial estimate of their position and orientation. |
Year | DOI | Venue |
|---|---|---|
1987 | 10.1016/0262-8856(88)90004-2 | Image and Vision Computing |
Keywords | DocType | Volume |
scene matching,depth maps,3d geometric description,vision system,robot vision | Conference | 6 |
Issue | ISSN | Citations |
2 | Image and Vision Computing | 18 |
PageRank | References | Authors |
5.06 | 9 | 6 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| J. Porrill | 1 | 195 | 139.71 |
| Stephen Pollard | 2 | 192 | 121.36 |
| Tony P. Pridmore | 3 | 28 | 8.02 |
| Jonathan B. Bowen | 4 | 32 | 8.98 |
| J. E. W. Mayhew | 5 | 97 | 89.03 |
| J. P. Frisby | 6 | 63 | 20.10 |