MORAL-a Vision-Based object recognition system for autonomous mobile systems

Abstract

One of the fundamental requirements for an autonomous mobile system (AMS) is the ability to navigate within an à priori known environment and to recognize task-specific objects, i.e., to identify these objects and to compute their 3D pose relative to the AMS. For the accomplishment of these tasks the AMS has to survey its environment by using appropriate sensors. This contribution presents the vision-based 3D object recognition system MORAL1, which performs a model-based interpretation of single video images of a CCD camera. Using appropriate parameters, the system can be adapted dynamically to different tasks. The communication with the AMS is realized transparently using remote procedure calls. As a whole this architecture enables a high level of flexibility with regard to the used hardware (computer, camera) as well as to the objects to be recognized.