The representation, recognition, and locating of 3-d objects
International Journal of Robotics Research
HYPER: A New Approach for the Recognition and Positioning of Two-Dimensional Objects
IEEE Transactions on Pattern Analysis and Machine Intelligence
TINA: a 3D vision system for pick and place
Image and Vision Computing
On Recognizing and Positioning Curved 3-D Objects from Image Contours
IEEE Transactions on Pattern Analysis and Machine Intelligence
Object recognition by computer: the role of geometric constraints
Object recognition by computer: the role of geometric constraints
Multiprocessor 3D vision system for pick and place
Image and Vision Computing
Recognizing solid objects by alignment with an image
International Journal of Computer Vision
A robot vision system for recognition of generic shaped objects
CVGIP: Image Understanding
BONSAI: 3D Object Recognition Using Constrained Search
IEEE Transactions on Pattern Analysis and Machine Intelligence - Special issue on interpretation of 3-D scenes—part I
Structural Indexing: Efficient 3-D Object Recognition
IEEE Transactions on Pattern Analysis and Machine Intelligence - Special issue on interpretation of 3-D scenes—part II
Using Extremal Boundaries for 3-D Object Modeling
IEEE Transactions on Pattern Analysis and Machine Intelligence - Special issue on interpretation of 3-D scenes—part II
A Method for Registration of 3-D Shapes
IEEE Transactions on Pattern Analysis and Machine Intelligence - Special issue on interpretation of 3-D scenes—part II
Three-dimensional motion computation and object segmentation in a long sequence of stereo frames
International Journal of Computer Vision
On using CAD models to compute the pose of curved 3D objects
CVGIP: Image Understanding - Special issue on directions in CAD-based vision
Object modelling by registration of multiple range images
Image and Vision Computing - Special issue: range image understanding
Surface shape from the deformation of apparent contours
International Journal of Computer Vision
Model-based object recognition in dense-range images—a review
ACM Computing Surveys (CSUR)
CAD-based vision: object recognition in cluttered range images using recognition strategies
CVGIP: Image Understanding
The alignment of objects with smooth surfaces
CVGIP: Image Understanding
Building three-dimensional object models from image sequences
Computer Vision and Image Understanding
Determining Pose of 3D Objects With Curved Surfaces
IEEE Transactions on Pattern Analysis and Machine Intelligence
Assets '96 Proceedings of the second annual ACM conference on Assistive technologies
COSMOS-A Representation Scheme for 3D Free-Form Objects
IEEE Transactions on Pattern Analysis and Machine Intelligence
Point Signatures: A New Representation for 3D Object Recognition
International Journal of Computer Vision
Model-Based Localisation and Recognition of Road Vehicles
International Journal of Computer Vision
Using Spin Images for Efficient Object Recognition in Cluttered 3D Scenes
IEEE Transactions on Pattern Analysis and Machine Intelligence
Computer Analysis of Visual Textures
Computer Analysis of Visual Textures
3-D Object Recognition with Symmetric Models: Symmetry Extraction and Encoding
IEEE Transactions on Pattern Analysis and Machine Intelligence
Stereo Correspondence Using Segment Connectivity
ICPR '98 Proceedings of the 14th International Conference on Pattern Recognition-Volume 1 - Volume 1
Pose estimation of multi-part curved objects
ISCV '95 Proceedings of the International Symposium on Computer Vision
Stereovision depth analysis by two-dimensional motion charge memories
Pattern Recognition Letters
Seat detection in a car for a smart airbag application
Pattern Recognition Letters
Robot-vision architecture for real-time 6-DOF object localization
Computer Vision and Image Understanding
Expert Systems with Applications: An International Journal
Comparison of detailed descriptors for noisy silhouettes
Machine Graphics & Vision International Journal
LWDOS: language for writing descriptors of outline shapes
SCIA'03 Proceedings of the 13th Scandinavian conference on Image analysis
Step over motion of four wheeled and four legged flexible personal robot
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
International Journal of Computer Vision
Permanency memories in scene depth analysis
EUROCAST'05 Proceedings of the 10th international conference on Computer Aided Systems Theory
Model-Based 3d object localization using occluding contours
ACCV'09 Proceedings of the 9th Asian conference on Computer Vision - Volume Part III
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We propose a new method for 3D object recognition which uses segment-based stereo vision. An object is identified in a cluttered environment and its position and orientation (6 dof) are determined accurately enabling a robot to pick up the object and manipulate it. The object can be of any shape (planar figures, polyhedra, free-form objects) and partially occluded by other objects. Segment-based stereo vision is employed for 3D sensing. Both CAD-based and sensor-based object modeling subsystems are available. Matching is performed by calculating candidates for the object position and orientation using local features, verifying each candidate, and improving the accuracy of the position and orientation by an iteration method. Several experimental results are presented to demonstrate the usefulness of the proposed method.