Three-Dimensional Sensing and Interpretation

Abstract

The main goal of this project is to produce a representational scheme that can be used to compare shape descriptions of solid three-dimensional objects. We are working toward a demonstration to show recognition and determination of position and orientation of solid objects on a tabletop, using a sensor consisting of a light-stripe projector and camera mounted in the hand of a robot manipulator. This report presents the results of a number of activities directed toward that goal: calibration and use of the range finder, a tactile sensor for exploring a three-dimensional domain, a system for identifying pipes in a bin, a method for assessing the similarity of cross- section curves, and pose cluster matching, a new technique for shape matching.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 1985
Accession Number
ADA150890

Entities

People

  • Gerald J. Agin
  • Martin J. Uram
  • Peter T. Highnam

Organizations

  • Carnegie Mellon University

Tags

Communities of Interest

  • Air Platforms
  • Autonomy
  • Sensors

DTIC Thesaurus Topics

  • Artificial Intelligence
  • C Programming Language
  • Computational Complexity
  • Computer Programming
  • Computer Programs
  • Computer Vision
  • Computer-Aided Design
  • Computers
  • Coordinate Systems
  • Geometric Forms
  • Image Processing
  • Measurement
  • Pattern Recognition
  • Programming Languages
  • Range Finders
  • Range Finding
  • Recognition

Readers

  • Computer Vision.
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy