Proceedings of the Korean Society of Broadcast Engineers Conference (한국방송∙미디어공학회:학술대회논문집)
- 2009.01a
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- Pages.535-540
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- 2009
POSITION AND POSTURE ESTIMATION OF 3D-OBJECT USING COLOR AND DISTANCE INFORMATION
- Ji, Hyun-Jong (Graduate School of Environment and Information Sciences Yokohama National University) ;
- Takahashi, Rina (Graduate School of Environment and Information Sciences Yokohama National University) ;
- Nagao, Tomoharu (Graduate School of Environment and Information Sciences Yokohama National University)
- Published : 2009.01.12
Abstract
Recently, autonomous robots which can achieve the complex tasks have been required with the advance of robotics. Advanced robot vision for recognition is necessary for the realization of such robots. In this paper, we propose a method to recognize an object in the actual environment. We assume that a 3D-object model used in our proposal method is the voxel data. Its inside is full up and its surface has color information. We also define the word "recognition" as the estimation of a target object's condition. This condition means the posture and the position of a target object in the actual environment. The proposal method consists of three steps. In Step 1, we extract features from the 3D-object model. In Step 2, we estimate the position of the target object. At last, we estimate the posture of the target object in Step 3. And we experiment in the actual environment. We also confirm the performance of our proposal method from results.