Incremental mesh modeling and hierarchical object recognition using multiple range images

R. Sagawa, K. Okada, S. Kagami, M. Inaba, H. Inoue
Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113)  
This paper describes a vision system which recognizes 3-D objects in real-time by modeling the shapes of objects and matching the generated m o dels. We have developed the following methods for practically solving important problems of integration such as the estimation of sensor accuracy as well as real-time processing: 1) We reduce t h e c omputation of signed-distance, which is necessary to apply the Marching Cubes Algorithm, and select the optimal resolution of models to be generated u s i
more » ... be generated u s i n g Octree, thereby enabling us to generate hierarchical mesh models in real-time. 2) We apply spin-image matching, selecting the resolution of generated m o dels and the coarse-to-ne algorithm; consequently, we are able to eciently match multiple objects of dierent sizes.
doi:10.1109/iros.2000.894587 dblp:conf/iros/SagawaOKII00 fatcat:vjkdxzfbhjfsdprcd5fsedxghy