3D Object recognition in cluttered environments by segment-based stereo vision
International Journal of Computer Vision
SIAM Journal on Imaging Sciences
Computer vision for fruit harvesting robots state of the art and challenges ahead
International Journal of Computational Vision and Robotics
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We show that alignment-like techniques can be used for the pose estimation of a large class of structured curved objects. We demonstrate that although it is difficult to isolate distinguished points on the outlines of such objects, high-level descriptions, extracted from a 2D image, based on a part-based formalism using sub-classes of generalized cylinders provide means to establish quasi-invariant correspondences between image and model shapes. We describe the method and show several results on real images.