NDLI: 3D localization of partially buried object in unstructured environment

Content Provider	IEEE Xplore Digital Library
Author	Maruyama, K. Oka, K. Takase, R. Kawai, Y. Yoshimi, T. Takahashi, H. Tomita, F.
Copyright Year	2008
Description	Author affiliation: Mitsui Eng. & Shipbuilding Co., Ltd., Tokyo (Oka, K.) \|\| Appl. Vision Syst. Corp., Tsukuba (Takahashi, H.) \|\| Nat. Inst. of Adv. Ind. Sci. & Technol., Tsukuba (Maruyama, K.; Takase, R.; Kawai, Y.; Yoshimi, T.; Tomita, F.)
Abstract	This paper describes a method to localize objects which are partially buried in an unstructured environment. The objects are limited to surfaces of revolution in the present study. Candidate regions are extracted as convex surface regions from a range data that is obtained by area-based stereo matching. The surface type at each point is determined based on the signs of the maximum and minimum curvatures, which are calculated by fitting a quadric in the local window. For each candidate region, multiple hypotheses for the position and direction of the rotational axis are generated for each object model. Each hypothesis is verified and improved by an iterative method, and the most reliable hypothesis is adopted. The experimental results demonstrate the effectiveness of the proposed method for actual range data.
Starting Page	1
Ending Page	4
File Size	536545
Page Count	4
File Format	PDF
ISBN	9781424421749
ISSN	10514651
DOI	10.1109/ICPR.2008.4761594
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-12-08
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Buried object detection Surface fitting Data mining Surface morphology Curve fitting Soil Pixel Equations Shipbuilding industry Machine vision
Content Type	Text
Resource Type	Article
Subject	Computer Vision and Pattern Recognition

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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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