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首页> 外文会议>Mechatronics, 2009. ICM 2009 >Simultaneous object recognition and position tracking for robotic applications
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Simultaneous object recognition and position tracking for robotic applications

机译：机器人应用程序的同时对象识别和位置跟踪

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摘要

Object recognition techniques are well known in the field of machine vision, and aim at the classification of certain observed rigid objects based on the information acquired by a specific sensor. These techniques can either be performed in the 2D image space by simply applying suitable image processing algorithms, or in the real world 3D space by performing surface reconstruction of the object's surface and comparing it with a database of known CAD data. This paper presents a combination of techniques which not only recognize and categorize the observed rigid objects but also compute their 3D pose (position and orientation) with respect an industrial robot's workspace frame. This task is very useful in the field of robotics as it allows an industrial robot to simultaneously recognize and follow the displacements of a specific rigid object, among other objects that may co-exist in the same environment.
机译：对象识别技术在机器视觉领域是众所周知的，其目的是基于由特定传感器获取的信息对某些观察到的刚性对象进行分类。这些技术既可以通过简单地应用适当的图像处理算法在2D图像空间中执行，也可以在现实世界的3D空间中通过执行对象表面的表面重建并将其与已知CAD数据的数据库进行比较来执行。本文提出了一种技术组合，这些技术不仅可以对观察到的刚性对象进行识别和分类，还可以针对工业机器人的工作空间框架计算其3D姿势（位置和方向）。该任务在机器人技术领域非常有用，因为它允许工业机器人同时识别并跟踪特定刚性物体的位移，以及可能在同一环境中共存的其他物体。

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