Bin-Picking based on Harmonic Shape Contexts and Graph-Based Matching

Authors:
J. Kirkegaard;T. B. Moeslund
Affiliations:
Image House A/S, Copenhagen, Denmark;Aalborg University, Denmark
Venue:
ICPR '06 Proceedings of the 18th International Conference on Pattern Recognition - Volume 02
Year:
2006

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Abstract

In this work we address the general bin-picking problem where 3D data is available. We apply Harmonic Shape Contexts (HSC) features since these are invariant to translation, scale, and 3D rotation. Each object is divided into a number of sub-models each represented by a number of HSC features. These are compared with HSC features extracted in the current data using a graph-based scheme. Results show that the approach is somewhat sensitive to noise, but works in presence of occlusion.