Unrestricted recognition of 3D objects for robotics using multilevel triplet invariants

  • Authors:
  • Gösta H. Granlund;Anders Moe

  • Affiliations:
  • Computer Vision Laboratory, Linköping University;Computer Vision Laboratory, Linköping University

  • Venue:
  • AI Magazine
  • Year:
  • 2004

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Abstract

A method for unrestricted recognition of three-dimensional objects was developed. By unrestricted, we imply that the recognition will be done independently of object position, scale, orientation, and pose against a structured background. It does not assume any preceding segmentation or allow a reasonable degree of occlusion. The method uses a hierarchy of triplet feature invariants, which are at each level defined by a learning procedure. In the feedback learning procedure, percepts are mapped on system states corresponding to manipulation parameters of the object. The method uses a learning architecture with channel information representation. This article discusses how objects can be represented. We propose a structure to deal with object and contextual properties in a transparent manner.