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The Container Pose Measurement Using Computer Vision  

주기세 (목포해양대학교)
Publication Information
Journal of the Korea Institute of Information and Communication Engineering / v.8, no.3, 2004 , pp. 702-707 More about this Journal
Abstract
This article is concerned with container pose estimation using CCD a camera and a range sensor. In particular, the issues of characteristic point extraction and image noise reduction are described. The Euler-Lagrange equation for gaussian and random noise reduction is introduced. The alternating direction implicit(ADI) method for solving Euler-Lagrange equation based on partial differential equation(PDE) is applied. The vertex points as characteristic points of a container and a spreader are founded using k order curvature calculation algorithm since the golden and the bisection section algorithm can't solve the local minimum and maximum problems. The proposed algorithm in image preprocess is effective in image denoise. Furthermore, this proposed system using a camera and a range sensor is very low price since the previous system can be used without reconstruction.
Keywords
alternating direction implicit(ADI); Euler-Lagrange equation; k order curvature calculation;
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