On the Sensitivity of the Hough Transform for Object Recognition
IEEE Transactions on Pattern Analysis and Machine Intelligence
Model-based object pose in 25 lines of code
International Journal of Computer Vision - Special issue: image understanding research at the University of Maryland
Multiple view geometry in computer visiond
Multiple view geometry in computer visiond
Mean Shift, Mode Seeking, and Clustering
IEEE Transactions on Pattern Analysis and Machine Intelligence
Shape Indexing Using Approximate Nearest-Neighbour Search in High-Dimensional Spaces
CVPR '97 Proceedings of the 1997 Conference on Computer Vision and Pattern Recognition (CVPR '97)
Marker Tracking and HMD Calibration for a Video-Based Augmented Reality Conferencing System
IWAR '99 Proceedings of the 2nd IEEE and ACM International Workshop on Augmented Reality
Gabor Filters for Object Localization and Robot Grasping
ICPR '00 Proceedings of the International Conference on Pattern Recognition - Volume 4
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
Stable Real-Time 3D Tracking Using Online and Offline Information
IEEE Transactions on Pattern Analysis and Machine Intelligence
A Performance Evaluation of Local Descriptors
IEEE Transactions on Pattern Analysis and Machine Intelligence
EPnP: An Accurate O(n) Solution to the PnP Problem
International Journal of Computer Vision
Manipulation planning with workspace goal regions
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Object recognition and pose estimation using color cooccurrence histograms and geometric modeling
Image and Vision Computing
HERB: a home exploring robotic butler
Autonomous Robots
Manipulation planning with workspace goal regions
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Discriminative mixture-of-templates for viewpoint classification
ECCV'10 Proceedings of the 11th European conference on Computer vision: Part V
An augmented-reality based brain-computer interface for robot control
ICONIP'10 Proceedings of the 17th international conference on Neural information processing: models and applications - Volume Part II
Continuous surface-point distributions for 3D object pose estimation and recognition
ACCV'10 Proceedings of the 10th Asian conference on Computer vision - Volume Part III
Incremental placement of interactive perception applications
Proceedings of the 20th international symposium on High performance distributed computing
Odessa: enabling interactive perception applications on mobile devices
MobiSys '11 Proceedings of the 9th international conference on Mobile systems, applications, and services
The MOPED framework: Object recognition and pose estimation for manipulation
International Journal of Robotics Research
Probabilistic object models for pose estimation in 2D images
DAGM'11 Proceedings of the 33rd international conference on Pattern recognition
Manipulator and object tracking for in-hand 3D object modeling
International Journal of Robotics Research
Combined 2D-3D categorization and classification for multimodal perception systems
International Journal of Robotics Research
Task Space Regions: A framework for pose-constrained manipulation planning
International Journal of Robotics Research
Tracking planes with large interframe displacement by fusing template and point based approaches
Proceedings of the 10th International Conference on Virtual Reality Continuum and Its Applications in Industry
One-shot visual appearance learning for mobile manipulation
International Journal of Robotics Research
Fusing template and point information to track planes with large interframe displacement
MMM'12 Proceedings of the 18th international conference on Advances in Multimedia Modeling
Monocular vision based 6D object localization for service robot's intelligent grasping
Computers & Mathematics with Applications
Evaluation of Three Vision Based Object Perception Methods for a Mobile Robot
Journal of Intelligent and Robotic Systems
Object recognition robust to imperfect depth data
ECCV'12 Proceedings of the 12th international conference on Computer Vision - Volume 2
Interactive object modelling based on piecewise planar surface patches
Computer Vision and Image Understanding
RF-compass: robot object manipulation using RFIDs
Proceedings of the 19th annual international conference on Mobile computing & networking
Model-based pose estimation for rigid objects
ICVS'13 Proceedings of the 9th international conference on Computer Vision Systems
Pose refinement of transparent rigid objects with a stereo camera
Transactions on Computational Science XIX
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Robust perception is a vital capability for robotic manipulation in unstructured scenes. In this context, full pose estimation of relevant objects in a scene is a critical step towards the introduction of robots into household environments. In this paper, we present an approach for building metric 3D models of objects using local descriptors from several images. Each model is optimized to fit a set of calibrated training images, thus obtaining the best possible alignment between the 3D model and the real object. Given a new test image, we match the local descriptors to our stored models online, using a novel combination of the RANSAC and Mean Shift algorithms to register multiple instances of each object. A robust initialization step allows for arbitrary rotation, translation and scaling of objects in the test images. The resulting system provides markerless 6-DOF pose estimation for complex objects in cluttered scenes. We provide experimental results demonstrating orientation and translation accuracy, as well a physical implementation of the pose output being used by an autonomous robot to perform grasping in highly cluttered scenes.