3D object recognition using segment-based stereo vision.pdf

3D Object Recognition Using Segment-Based Stereo Vision Yasushi Sumi and Fumiaki Tomita Electrotechnical Laboratory, Tsukuba, Ibaraki, 305 Japan Abstract. We propose a new method to recognize 3D objects using segment- based stereo vision. Predefined object models are compared with 3D boundaries which are extracted by the stereo vision. Boundaries may be straight lines, circular arcs and free-form curves. The models consist of the local shapes and the whole shapes of the boundaries. The models are constructed from samples of real objects or from CAD models. Based on the local shapes, the candidate transformations are generated. The candidates are verified and adjusted based on the whole shapes. Experimental results show the effectiveness of the method. 1 Introduction Three-dimensional object recognition is an important topic in computer vision. Many techniques which address the problem of finding the position and orientation of a known object have been proposed for fully-automated production systems using intelligent robots. Especially, recent customized production requires versatile object recognition systems. Approaches of 3D object recognition are generally classified into two groups. One is to analyze a monocular intensity image. The position and orientation of an object are estimated by matching 2D features extracted from the image to the object model [1, 2]. However, the combinatorial problem arises if the object and the scene are complex. The other approach is to use range images. Since the combinatorial problem reduces by using 3D features extracted from the range images, many recognition techniques have taken this approach [3]. However, special devices, such as a laser range finder, is necessary to get a range image of a scene. Recently, various techniques to reconstruct 3D information from intensity images have been proposed, such as stereo vision, etc. Though it is reasonable to use them for object recognition, there have been very few researches. TINA dev