Generation, recognition, and consistent fusion of partial boundary representations from range images

Peter Kohlhepp; Andrzej M. Hanczak; Gang Li

doi:10.1117/12.189046

6 October 1994 Generation, recognition, and consistent fusion of partial boundary representations from range images

Peter Kohlhepp, Andrzej M. Hanczak, Gang Li

Proceedings Volume 2355, Sensor Fusion VII; (1994) https://doi.org/10.1117/12.189046
Event: Photonics for Industrial Applications, 1994, Boston, MA, United States

Abstract

This paper presents SOMBRERO, a new system for recognizing and locating 3D, rigid, non- moving objects from range data. The objects may be polyhedral or curved, partially occluding, touching or lying flush with each other. For data collection, we employ 2D time- of-flight laser scanners mounted to a moving gantry robot. By combining sensor and robot coordinates, we obtain 3D cartesian coordinates. Boundary representations (Brep's) provide view independent geometry models that are both efficiently recognizable and derivable automatically from sensor data. SOMBRERO's methods for generating, matching and fusing Brep's are highly synergetic. A split-and-merge segmentation algorithm with dynamic triangular builds a partial (21/2D) Brep from scattered data. The recognition module matches this scene description with a model database and outputs recognized objects, their positions and orientations, and possibly surfaces corresponding to unknown objects. We present preliminary results in scene segmentation and recognition. Partial Brep's corresponding to different range sensors or viewpoints can be merged into a consistent, complete and irredundant 3D object or scene model. This fusion algorithm itself uses the recognition and segmentation methods.

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Peter Kohlhepp, Andrzej M. Hanczak, and Gang Li "Generation, recognition, and consistent fusion of partial boundary representations from range images", Proc. SPIE 2355, Sensor Fusion VII, (6 October 1994); https://doi.org/10.1117/12.189046

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