Dynamic monocular machine vision
Machine Vision and Applications
Computer graphics: principles and practice (2nd ed.)
Computer graphics: principles and practice (2nd ed.)
Fitting Parameterized Three-Dimensional Models to Images
IEEE Transactions on Pattern Analysis and Machine Intelligence
Model-based object tracking in monocular image sequences of road traffic scenes
International Journal of Computer Vision
Model-based object pose in 25 lines of code
International Journal of Computer Vision - Special issue: image understanding research at the University of Maryland
Support Vector Machines for 3D Object Recognition
IEEE Transactions on Pattern Analysis and Machine Intelligence
Introduction to Robotics: Mechanics and Control
Introduction to Robotics: Mechanics and Control
Perceptual Organization and Visual Recognition
Perceptual Organization and Visual Recognition
A real-time tracker for markerless augmented reality
ISMAR '03 Proceedings of the 2nd IEEE/ACM International Symposium on Mixed and Augmented Reality
Pattern Classification (2nd Edition)
Pattern Classification (2nd Edition)
Stable Real-Time 3D Tracking Using Online and Offline Information
IEEE Transactions on Pattern Analysis and Machine Intelligence
Object Recognition Using Composed Receptive Field Histograms of Higher Dimensionality
ICPR '04 Proceedings of the Pattern Recognition, 17th International Conference on (ICPR'04) Volume 2 - Volume 02
Reinforcement learning for appearance based visual servoing in robotic manipulation
ROCOM'08 Proceedings of the 8th WSEAS International Conference on Robotics, Control and Manufacturing Technology
HERB: a home exploring robotic butler
Autonomous Robots
Object recognition and full pose registration from a single image for robotic manipulation
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Dependable 3D object recognition with two-layered particle filter
Proceedings of the 5th International Conference on Ubiquitous Information Management and Communication
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
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
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Robust techniques for object recognition and pose estimation are essential for robotic manipulation and object grasping. In this paper, a novel approach for object recognition and pose estimation based on color cooccurrence histograms and geometric modelling is presented. The particular problems addressed are: (i) robust recognition of objects in natural scenes, (ii) estimation of partial pose using an appearance based approach, and (iii) complete 6DOF model based pose estimation and tracking using geometric models. Our recognition scheme is based on the color cooccurrence histograms embedded in a classical learning framework that facilitates a 'winner-takes-all' strategy across different views and scales. The hypotheses generated in the recognition stage provide the basis for estimating the orientation of the object around the vertical axis. This prior, incomplete pose information is subsequently made precise by a technique that facilitates a geometric model of the object to estimate and continuously track the complete 6DOF pose of the object. Major contributions of the proposed system are the ability to automatically initiate an object tracking process, its robustness and invariance towards scaling and translations as well as the computational efficiency since both recognition and pose estimation rely on the same representation of the object. The performance of the system is evaluated in a domestic environment with changing lighting and background conditions on a set of everyday objects.