Model-based recognition and range imaging for a guided vehicle

doi:10.1016/0262-8856(92)90071-A

Image and Vision Computing

Volume 10, Issue 3, April 1992, Pages 197-207

https://doi.org/10.1016/0262-8856(92)90071-A Get rights and content

Abstract

Progress in providing the Oxford Autonomous Guided Vehicle (AGV) with range sensing and model-based recognition of classes of industrial artifacts is described. The GEC ‘Turtle’ vehicle is the basis for a sensor integration project in which vision sensors play the strategic role of locating pallets in an unstructured environment; we report on two key areas involved with achieving this goal. The design and geometry of a novel range sensor developed jointly with the National Engineering Laboratories is described. The problems of dealing with noisy range images are discussed, and a number of solutions proposed and tested. A system for pose recognition of generic models from range-imagery is described.

References (28)

RA Brooks
Symbolic reasoning among 3D models and 2D images
Artificial Intelligence
(1981)
JM Brady et al.
Sensor-based control of AGVs
IEEE Comput. & Control Eng. J.
(1990)
J Peng et al.
Experiments with a rule-based robot palletiser
JJ Leonard
Directed Sonar Sensing for Mobile Robot Navigation
RA Jarvis
A perspective on range finding techniques for computer vision
IEEE Trans. PAMI
(1983)
HK Nishihara
Practical real-time imaging stereo matcher
Opt. Eng
(1984)
GT Reid et al.
A laser scanning camera for range data acquisiton
J. Phys. D: Appl. Phys.
(1988)
R Nevatia
Structured Descriptions of Complex Curved Objects for Recognition and Visual Memory
RC Bolles et al.
A simple sensor to gather three-dimensional data

OD Faugeras et al.

The representation, recognition and locating of 3D objects

Int. J. Robotics Res.

(1986)

WEL Grimson et al.

Model-based recognition and localization from sparse range or tactile data

Int. J. Robotics Res.

(1984)

RC Bolles et al.

3DPO: A three-dimensional part orientation system

Int. J. Robotics Res.

(1986)

AK Jain et al.

Evidence-based recognition of 3D objects

IEEE Trans. PAMI

(1988)

Cited by (10)

Automated retrieval of 3D CAD model objects in construction range images
2008, Automation in Construction
Automated and robust retrieval of three-dimensional (3D) Computer-Aided Design (CAD) objects from laser scanned data would have many potentially valuable applications in construction engineering and management. For example, it would enable automated progress assessment for effortless productivity tracking, automated 3D image database searching for forensic and legal analysis, and real-time local modeling for automated equipment control and safety. After reviewing and analyzing previous research in the field of automated object recognition, this paper presents a new approach for robust automated recognition/retrieval of 3D CAD objects in range point clouds in the Architectural/Engineering/Construction & Facility Management (AEC-FM) context. This approach is validated in laboratory experiments. A first experiment demonstrates that this new approach can efficiently and robustly automatically retrieve 3D CAD model objects in construction laser scanned data. A second experiment demonstrates how this approach can be used for efficiently assessing construction progress. The results presented here are preliminary but conclusive for proof of concept. More extensive field experiments in this and other application areas will follow to characterize performance trade-offs in practice.
A modular computing architecture for autonomous robots
1998, Microprocessors and Microsystems
This paper presents a modular computing architecture used for intelligent control of autonomous robots. The architecture takes the form of multiple sensing and control layers, based on Locally Intelligent Control Agents (LICAs) in which IBM PowerPC, SIEMENS 80C166, and INMOS Transputers are adopted. The control tasks are distributed among a set of the LICA-based behaviour experts that tightly couple sensing and action, but which are also loosely coupled to each other. It provides a high bandwidth computing platform for real-time navigation and control tasks embedded in real-world applications. Based on this modular design, autonomous mobile robots have been built successfully to implement both indoor and outdoor navigation.
Projective calibration of a laser-stripe range finder
1996, Image and Vision Computing
We discuss the calibration of a laser triangulation range system mounted on a robot vehicle. Range sensing in general is briefly reviewed, followed by a description of the Oxford/NEL range finder, a sensor mounted on the Oxford AGV for use in object recognition and acquisition tasks. Calibration of the range sensor is achieved by modelling it as a projectivity between two planes: the plane of the light stripe and the plane of the camera's detector array. The vehicle is driven to a known location where there exists an arrangement of orthogonal planes whose equations expressed in world coordinates have been premeasured accurately. Known vehicle position relative to world coordinates, known sensor position relative to vehicle coordinates, and a set of world plane to image point correspondences lead to an overdetermined set of linear equations which can be solved to give the required eight unknown parameters of the projectivity.
Recognition of object classes from range data
1995, Artificial Intelligence
We develop techniques for recognizing instances of 3D object classes (which may consist of multiple and/or repeated sub-parts with internal degrees of freedom, linked by parameterized transformations), from sets of 3D feature observations. Recognition of a class instance is structured as a search of an interpretation tree in which geometric constraints on pairs of sensed features not only prune the tree, but are used to determine upper and lower bounds on the model parameter values of the instance. A real-valued constraint propagation network unifies the representations of the model parameters, model constraints and feature constraints, and provides a simple and effective mechanism for accessing and updating parameter values.
Recognition of objects with multiple internal degrees of freedom, including non-uniform scaling and stretching, articulations, and sub-part repetitions, is demonstrated and analysed for two different types of real range data: 3D edge fragments from a stereo vision system, and position/surface normal data derived from planar patches extracted from a range image.
Recognition of parameterized objects from 3D data: a parallel implementation
1994, Image and Vision Computing
We present a parallel implementation of an algorithm designed to recognize fully parameterized objects from 3D data. For the purpose of recognition, the mapping of sensed features with model features is structured as an interpretation tree. However, with the use of parameterized models, most of the computation performed during the tree search is actually spent in the updating step of the object parameters, this process being executed through a SUP/INF network. A major contribution of our implementation is the exploitation of the intrinsic parallelism of the SUP/INF network, while the interpretation tree search is also distributed on our transputer based MIMD architecture.
Image Analysis and Computer Vision: 1992
1993, Computer Vision and Image Understanding
This paper presents a bibliography of nearly 1900 references related to computer vision and image analysis, arranged by subject matter. The topics covered include architectures; computational techniques; feature detection and segmentation; image analysis; two-dimensional shape; pattern; color and texture; matching and stereo; three-dimensional recovery and analysis; three-dimensional shape; and motion. A few references are also given on related topics, such as geometry, graphics, image input/output and coding, image processing, optical processing, visual perception, neural nets, pattern recognition, and artificial intelligence, as well as on applications.

View all citing articles on Scopus

View full text

Model-based recognition and range imaging for a guided vehicle

Abstract

Artificial Intelligence

Sensor-based control of AGVs

IEEE Comput. & Control Eng. J.

Experiments with a rule-based robot palletiser

Directed Sonar Sensing for Mobile Robot Navigation

A perspective on range finding techniques for computer vision

IEEE Trans. PAMI

Practical real-time imaging stereo matcher

Opt. Eng

A laser scanning camera for range data acquisiton

J. Phys. D: Appl. Phys.

Structured Descriptions of Complex Curved Objects for Recognition and Visual Memory

A simple sensor to gather three-dimensional data

The representation, recognition and locating of 3D objects

Int. J. Robotics Res.

Model-based recognition and localization from sparse range or tactile data

Int. J. Robotics Res.

3DPO: A three-dimensional part orientation system

Int. J. Robotics Res.

Evidence-based recognition of 3D objects

IEEE Trans. PAMI