A 3D shape attractor:
Abstract: "The three dimensional Shape Attractor tries to match a 3D 'template' model to a 2D image of a part. The 3D template is projected onto the image plane and the outline polygon found. This is compared with the image and a least-squares technique is used to estimate the 'b...
Gespeichert in:
| 1. Verfasser: | |
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| Format: | Buch |
| Sprache: | English |
| Veröffentlicht: |
Edinburgh
1992
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| Schriftenreihe: | University <Edinburgh> / Department of Artificial Intelligence: DAI research paper
573 |
| Schlagworte: | |
| Zusammenfassung: | Abstract: "The three dimensional Shape Attractor tries to match a 3D 'template' model to a 2D image of a part. The 3D template is projected onto the image plane and the outline polygon found. This is compared with the image and a least-squares technique is used to estimate the 'best' way to rotate, translate, and scale the template so that it fits the image. The template is rotated, scaled, and translated and its new projected image is compared with the part outline once again. Although the estimate of the 'best' rotation' is crude, the errors are self-limiting and iteration ensures that an exact solution is quickly found. The 3D Shape Attractor is robust and its output is a transformation, not a similarity measure. This makes it particularly suitable for the control of robot motion A robot programming example demonstrates how the algorithm can be used in part acquisition. The computer model of the part carries 'handles' which are used to indicate where the image of the robot hand should be so the hand can pick up the part. |
| Beschreibung: | 15 S. |
Internformat
MARC
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| 490 | 1 | |a University <Edinburgh> / Department of Artificial Intelligence: DAI research paper |v 573 | |
| 520 | 3 | |a Abstract: "The three dimensional Shape Attractor tries to match a 3D 'template' model to a 2D image of a part. The 3D template is projected onto the image plane and the outline polygon found. This is compared with the image and a least-squares technique is used to estimate the 'best' way to rotate, translate, and scale the template so that it fits the image. The template is rotated, scaled, and translated and its new projected image is compared with the part outline once again. Although the estimate of the 'best' rotation' is crude, the errors are self-limiting and iteration ensures that an exact solution is quickly found. The 3D Shape Attractor is robust and its output is a transformation, not a similarity measure. This makes it particularly suitable for the control of robot motion | |
| 520 | 3 | |a A robot programming example demonstrates how the algorithm can be used in part acquisition. The computer model of the part carries 'handles' which are used to indicate where the image of the robot hand should be so the hand can pick up the part. | |
| 650 | 7 | |a Pattern recognition, image processing and remote sensing |2 sigle | |
| 650 | 7 | |a Robotics and its application |2 sigle | |
| 650 | 4 | |a Robot vision | |
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Datensatz im Suchindex
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| author | Balch, Peter |
| author_facet | Balch, Peter |
| author_role | aut |
| author_sort | Balch, Peter |
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| id | DE-604.BV010459227 |
| illustrated | Not Illustrated |
| indexdate | 2024-07-09T17:52:51Z |
| institution | BVB |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-006968283 |
| oclc_num | 31283389 |
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| owner_facet | DE-91G DE-BY-TUM |
| physical | 15 S. |
| publishDate | 1992 |
| publishDateSearch | 1992 |
| publishDateSort | 1992 |
| record_format | marc |
| series2 | University <Edinburgh> / Department of Artificial Intelligence: DAI research paper |
| spelling | Balch, Peter Verfasser aut A 3D shape attractor Edinburgh 1992 15 S. txt rdacontent n rdamedia nc rdacarrier University <Edinburgh> / Department of Artificial Intelligence: DAI research paper 573 Abstract: "The three dimensional Shape Attractor tries to match a 3D 'template' model to a 2D image of a part. The 3D template is projected onto the image plane and the outline polygon found. This is compared with the image and a least-squares technique is used to estimate the 'best' way to rotate, translate, and scale the template so that it fits the image. The template is rotated, scaled, and translated and its new projected image is compared with the part outline once again. Although the estimate of the 'best' rotation' is crude, the errors are self-limiting and iteration ensures that an exact solution is quickly found. The 3D Shape Attractor is robust and its output is a transformation, not a similarity measure. This makes it particularly suitable for the control of robot motion A robot programming example demonstrates how the algorithm can be used in part acquisition. The computer model of the part carries 'handles' which are used to indicate where the image of the robot hand should be so the hand can pick up the part. Pattern recognition, image processing and remote sensing sigle Robotics and its application sigle Robot vision Department of Artificial Intelligence: DAI research paper University <Edinburgh> 573 (DE-604)BV010450646 573 |
| spellingShingle | Balch, Peter A 3D shape attractor Pattern recognition, image processing and remote sensing sigle Robotics and its application sigle Robot vision |
| title | A 3D shape attractor |
| title_auth | A 3D shape attractor |
| title_exact_search | A 3D shape attractor |
| title_full | A 3D shape attractor |
| title_fullStr | A 3D shape attractor |
| title_full_unstemmed | A 3D shape attractor |
| title_short | A 3D shape attractor |
| title_sort | a 3d shape attractor |
| topic | Pattern recognition, image processing and remote sensing sigle Robotics and its application sigle Robot vision |
| topic_facet | Pattern recognition, image processing and remote sensing Robotics and its application Robot vision |
| volume_link | (DE-604)BV010450646 |
| work_keys_str_mv | AT balchpeter a3dshapeattractor |