NDLI: Combining Appearance-based and Model-based Methods for Real-Time Object Recognition and 6D Localization

Content Provider	IEEE Xplore Digital Library
Author	Azad, P. Asfour, T. Dillmann, R.
Copyright Year	2006
Description	Author affiliation: Inst. for Comput. Sci. & Eng., Karlsruhe Univ. (Azad, P.; Asfour, T.; Dillmann, R.)
Abstract	A general solution for image-based object recognition and localization is still a goal far away. Therefore, the only way to tackle the problem is to apply the suitable approach for each specific problem. The most common techniques can be classified into global appearance-based, model-based, or histogram-based approaches, and approaches based on local features. In this paper, we concentrate on recognition and full 6D localization of solid colored objects of any geometry for real-time application on a humanoid robot system. State-of-the-art model-based methods can only deal with object geometries which can be broken down into 3D lines and planes, and thus can be efficiently projected into the image plane, which is not the case for most objects in a realistic scenario. In contrast, appearance-based methods have the power to be applicable for any object geometry, but are rarely combined with full 6D localization of objects, which is required for any realistic application in the context of grasping with a humanoid robot. We present a system which combines the benefits of global appearance-based and model-based approaches, resulting in a system which can acquire object representations automatically given its 3D model, and can recognize and localize solid-colored objects in 6D in an arbitrary scene in real-time
Starting Page	5339
Ending Page	5344
File Size	395483
Page Count	6
File Format	PDF
ISBN	1424402581
DOI	10.1109/IROS.2006.282094
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Object recognition Machine vision Humanoid robots Computational geometry Layout Real time systems Robot kinematics Solid modeling Robot vision systems Power system modeling
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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