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首页> 外文会议>International Workshop on Intelligent Computing in Pattern Analysis/Synthesis(IWICPAS 2006); 20060826-27; Xi'an(CN) >An Integration Concept for Vision-Based Object Handling: Shape-Capture, Detection and Tracking
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An Integration Concept for Vision-Based Object Handling: Shape-Capture, Detection and Tracking

机译：基于视觉的对象处理的集成概念：形状捕获，检测和跟踪

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摘要

Combining visual shape-capturing and vision-based object manipulation without intermediate manual interaction steps is important for autonomic robotic systems. In this work we introduce the concept of such a vision system closing the chain of shape-capturing, detecting and tracking. Therefore, we combine a laser range sensor for the first two steps and a monocular camera for the tracking step. Convex shaped objects in everyday cluttered and occluded scenes can automatically be re-detected and tracked, which is suitable for automated visual servoing or robotic grasping tasks. The separation of shape and appearance information allows different environmental and illumination conditions for shape-capturing and tracking. The paper describes the framework and its components of visual shape-capturing, fast 3D object detection and robust tracking. Experiments show the feasibility of the concept.
机译：对于自主机器人系统而言，将视觉形状捕获和基于视觉的对象操作相结合而无需中间的手动交互步骤非常重要。在这项工作中，我们介绍了一种视觉系统的概念，该视觉系统封闭了形状捕获，检测和跟踪的链条。因此，我们将前两个步骤的激光测距传感器与跟踪步骤的单眼相机相结合。日常杂乱和遮挡场景中的凸形物体可以自动重新检测和跟踪，适用于自动视觉伺服或机器人抓握任务。形状和外观信息的分离允许在不同的环境和光照条件下进行形状捕获和跟踪。本文介绍了视觉形状捕获，快速3D对象检测和鲁棒跟踪的框架及其组件。实验证明了该概念的可行性。

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