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Recognizing large isolated 3-D objects through next view planning using inner camera invariants

DSpace at IIT Bombay

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Title Recognizing large isolated 3-D objects through next view planning using inner camera invariants
 
Creator ROY, SD
CHAUDHURY, S
BANERJEE, S
 
Subject reconstruction-based recognition
appearance-based parts
sensing strategies
perception
vision
active 3-d object recognition
inner camera invariants
next-view planning
pose estimation
 
Description Most model-based three-dimensional (3-D) object recognition systems use information from a single view of an object. However, a single view may not contain sufficient features to recognize it unambiguously. Further, two objects may have all views in common with respect to a given feature set, and may be distinguished only, through a sequence of views. A further complication arises when in an image, we do not have a complete view of an object. This paper presents a new online scheme for the recognition and pose estimation of a large isolated 3-D object, which may not entirely fit in a camera's field of view. We consider an uncalibrated projective camera, and consider the case when the internal parameters of the camera may be varied either unintentionally, or on purpose. The scheme uses a probabilistic reasoning framework for recognition and next-view planning. We show results of successful recognition and pose estimation even in cases of a high degree of interpretation ambiguity associated with the initial view.
 
Publisher IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
 
Date 2011-08-01T14:49:20Z
2011-12-26T12:53:24Z
2011-12-27T05:38:22Z
2011-08-01T14:49:20Z
2011-12-26T12:53:24Z
2011-12-27T05:38:22Z
2005
 
Type Article
 
Identifier IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS, 35(2), 282-292
1083-4419
http://dx.doi.org/10.1109/TSMCB.2004.842414
http://dspace.library.iitb.ac.in/xmlui/handle/10054/8460
http://hdl.handle.net/10054/8460
 
Language en