Combining visual shape-capturing and vision-based object manipulation without intermediate manual interaction steps is important for autonomic robotic systems. In this work we introduce the concept of such a vision system closing the chain of shape-capturing, detecting and tracking. Therefore, we combine a laser range sensor for the first two steps and a monocular camera for the tracking step. Convex shaped objects in everyday cluttered and occluded scenes can automatically be re-detected and tracked, which is suitable for automated visual servoing or robotic grasping tasks. The separation of shape and appearance information allows different environmental and illumination conditions for shape-capturing and tracking. The paper describes the framework and its components of visual shape-capturing, fast 3D object detection and robust tracking. Experiments show the feasibility of the concept. © Springer-Verlag Berlin Heidelberg 2006.
CITATION STYLE
Schlemmer, M. J., Biegelbauer, G., & Vincze, M. (2006). An integration concept for vision-based object handling: Shape-capture, detection and tracking. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 4153 LNCS, pp. 215–224). Springer Verlag. https://doi.org/10.1007/11821045_23
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