The representation, recognition, and locating of 3-d objects
International Journal of Robotics Research
Curvature-based representation of objects from range data
Image and Vision Computing
Localizing Overlapping Parts by Searching the Interpretation Tree
IEEE Transactions on Pattern Analysis and Machine Intelligence
Segmentation and Classification of Range Images
IEEE Transactions on Pattern Analysis and Machine Intelligence
Algorithms for clustering data
Algorithms for clustering data
Segmentation through Variable-Order Surface Fitting
IEEE Transactions on Pattern Analysis and Machine Intelligence
Computational Geometry for Design and Manufacture
Computational Geometry for Design and Manufacture
Robot Manipulators: Mathematics, Programming, and Control
Robot Manipulators: Mathematics, Programming, and Control
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This paper describes the design and implementation of INTEGRA which is a range image understanding system that attempts to exploit the synergy between the various stages in the image understanding process i.e. segmentation, feature extraction, recognition and localization. The salient features of INTEGRA are (i) A synergetic combination of edge- and surface-based segmentation processes that results in more accurate segmentation than would have been possible with either of them alone and (ii) the ability to correct errors made during segmentation in the matching and localization stages. INTEGRA at this time, is capable of recognition and localization of polyhedral objects and objects that can be treated as piecewise combinations of curved surfaces of quadratic order such as spherical, ellipsoidal, cylindrical and conical surfaces.