NDLI: Object localization and recognition for a grasping robot

Content Provider	IEEE Xplore Digital Library
Author	Kefalea, E.
Copyright Year	1998
Description	Author affiliation: Inst. fur Neuroinf., Ruhr-Univ., Bochum, Germany (Kefalea, E.)
Abstract	This paper presents a vision system (object localization and recognition) for a grasping robot environment. The authors' approach to object localization is based on the sequential integration of early vision processes, such as color and edge detection. No assumptions about the object or background are necessary for this process. It detects blobs of interest in the scene and treats them as object candidates. The method presented here shows great reliability, flexibility and robustness. When the localization process completes, the next task is to classify the object in terms of its shape, orientation, size and exact position, as a basis for grasping. Recognition is achieved by comparing the image to stored two-dimensional object views. Stored views are represented as labelled graphs and are derived automatically from images of object models. Graph nodes are labelled by edge information, graph links by distance vectors in the image plane. Graphs emphasize occluding boundaries and inner object edges. These are identified by extracting local maxima in the Mallet wavelet transform of the image. Stored graphs are compared to test images by elastic matching. The system is robust with respect to surface markings and cluttered background. Their experiments demonstrate that the system is capable of fairly reliable object recognition and pose estimation in natural scenes.
Starting Page	2057
Ending Page	2062
File Size	745272
Page Count	6
File Format	PDF
ISBN	0780345037
DOI	10.1109/IECON.1998.724035
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1998-08-31
Publisher Place	Germany
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Layout Robustness Machine vision Robot vision systems Color Image edge detection Object detection Shape Image recognition Data mining
Content Type	Text
Resource Type	Article

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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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