CAGD based 3-D vision

This paper presents the initial results of our work in using the Computer Aided Geometric Design (CAGD) representations and models as a basis for the visual recognition of 3-D objects for robotic applications. We describe some techniques and algorithms which allow the generation of computer representations and geometric models of complicated realizable 3-D objects in a systematic manner. These representations and models are obtained using (a) available CAGD techniques, and (b) data acquired from various range finding techniques. As compared to previous work in machine vision, multiple hierarchical representations of an object obtained from geometric models can be used for finding orientation and position information.

Authors

• Bir Bhanu
• Thomas C. Henderson

Keywords

• Solid modeling
• Computer aided manufacturing
• Application software
• Machine vision
• Computer vision
• Robots
• Virtual manufacturing
• Image analysis
• Information analysis
• Performance analysis
• Computer Aided Geometric Design
• Geometric Model
• Basis Of Recognition
• Multiple Representations
• Object Classification
• Visual Model
• Object-oriented
• Object Position
• Object Parts
• Object Surface
• Complex Objects
• Solid Model
• Surface Representation
• Objective View
• Laser Ranging
• Paradigmatic Model
• Combined Objective
• Solid Objects
• Common Shape
• Computer Vision System
• Quadric
• Left Head
• Scene Analysis
• Computer Vision Applications
• Intersection Point
• Object Recognition
• Adjacency Graph