Solving partial occlusion with range images and 3D histograms

• Type: Article in International Conference Proceedings Book
• Date: 1995

Authors

lopes, p (Author) Other; oliveira, e (Author) FEUP

Conference proceedings International

Title: PROCEEDINGS OF THE 1995 IEEE IECON - 21ST INTERNATIONAL CONFERENCE ON INDUSTRIAL ELECTRONICS, CONTROL, AND INSTRUMENTATION, VOLS 1 AND 2

Pages: 1313-1318

1995 IEEE 21st International Conference on Industrial Electronics, Control, and Instrumentation

ORLANDO, FL, NOV 06-10, 1995

Indexing

ISI Web of Knowledge - 0 Citations

Scopus - 2 Citations

Scientific classification

FOS: Engineering and technology > Electrical engineering, Electronic engineering, Information engineering

Other information

Authenticus ID: P-001-HZJ

Abstract (EN): In this paper, a complete experimental set-up for range finding and the software developed for its control is presented. The results obtained are used not only to provide numerical information of the objects' pose in a scene to a high level planner of a Robotic System, but also to identify them. For the special case of objects partial occlusion, a method for identification has been developed based on the range image obtained from the range finder: a complete scan of the scene is performed at its highest resolution, followed by several levels of image filtering, in order to obtain an image of distances - the range image. The method consists primarily of segmenting a range image once, and search the special case of partial occlusion. Then, for those range blobs found to contain more than one object, a second segmentation is performed based on the 3D histogram (number of pixels vrs. height Z) which is built during the first segmentation. As long as the overlapping object meet certain conditions, separation of occluded and occluding objects is obtained. The characteristic parameters defining the latter are used to identify it after matching them to a pre-existing models database.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6