Indexing and alignment of 3-D objects using geometric quasi-invariants

Authors:
P. Vasseur;C. Pegard;E. Mouaddib;L. Delahoche
Affiliations:
Perception in Robotics Department, GRACSY (Groupe de Recherche sur l'Analyse et la Commande des Systèmes), University of Picardie, 7, rue du Moulin Neuf, 8 Amiens France. E-mail: Pascal.Vasse ...;Perception in Robotics Department, GRACSY (Groupe de Recherche sur l'Analyse et la Commande des Systèmes), University of Picardie, 7, rue du Moulin Neuf, 8 Amiens France. E-mail: Pascal.Vasse ...;Perception in Robotics Department, GRACSY (Groupe de Recherche sur l'Analyse et la Commande des Systèmes), University of Picardie, 7, rue du Moulin Neuf, 8 Amiens France. E-mail: Pascal.Vasse ...;Perception in Robotics Department, GRACSY (Groupe de Recherche sur l'Analyse et la Commande des Systèmes), University of Picardie, 7, rue du Moulin Neuf, 8 Amiens France. E-mail: Pascal.Vasse ...
Venue:
Robotica
Year:
1998

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Abstract

In this paper, we are introducing a system which is able to recognize polyhedral objects in an indoor environment. Our system is intended to be implemented on autonomous mobile platforms in order to enable the localization or research of a precise item. The algorithm is based on the use of geometric quasi-invariants associated to every object. These geometric quasi-invariants correspond to the ratio of the lengths as well as the angle formed by the pair of segments which are in relationship and which are constituting the object. We present some experimental results gained on one of our platforms in our laboratory.