Automatic generation of feature search graph for object recognition from 3-D model.

  • KUNO Yoshinori
    Information Systems Laboratory Research and Development Center TOSHIBA Corporation
  • OKAMOTO Yasukazu
    Information Systems Laboratory Research and Development Center TOSHIBA Corporation
  • NUMAGAMI Hideo
    Information Systems Laboratory Research and Development Center TOSHIBA Corporation

Bibliographic Information

Other Title
  • 3次元モデルからの物体認識用特徴探索手順の自動生成

Abstract

We are developing a vision system for an intelligent robot which can efficieently recognize many kinds of object. This system consists of two parts ; automatic generation of an object recognition procedure from a 3-D model (off-line part), feature extraction and object recognition by executing the procedure (on-line part) . This paper presents the off-line part of the system.<BR>How to deal with the variations of object appearnces is the main issue in 3-D object recognition. In our approach, first, object appearances for various view directions are described with 2-D features which are derived from projections of the model. Then, the appearances for different view directions are analyzed by comparing descriptions for each direction, and a tree-like graph is constructed, where general descriptions visible in many directions are linked to more specific descriptions visible in fewer directions. Finally, the search order in the graph is determined by attaching a priority to each node of the graph. The capability of available image processing module in extracting features as well as the feature properties is considered in this priority evaluation<BR>The generated tree-like graph is used as an object recognition procedure. The system searches through the graph in the order of the priority attached to each node and looks for the features in the description from an image.

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Details 詳細情報について

  • CRID
    1390001204725938048
  • NII Article ID
    130000849840
  • DOI
    10.7210/jrsj.6.271
  • ISSN
    18847145
    02891824
  • Text Lang
    ja
  • Data Source
    • JaLC
    • Crossref
    • CiNii Articles
  • Abstract License Flag
    Disallowed

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