at Google ScholarTitle data
Rohner, Dorian ; Henrich, Dominik:
Object Recognition for Robotics based on Planar Reconstructed B-Rep Models.
In:
Third IEEE International Conference on Robotic Computing. -
Naples, Italy
,
2019
. - pp. 132-137
DOI: https://doi.org/10.1109/IRC.2019.00027
Project information
| Project title: |
Project's official title Project's id Semantisches und lokales Computersehen mit Farb-/Tiefenkameras in der Robotik (SeLaVi) 405548722 |
|---|---|
| Project financing: |
Deutsche Forschungsgemeinschaft |
Abstract in another language
Current robotic systems in small and medium-sized enterprises as well as in households need a perception system to enable an interaction of the robot with the environment. One necessary ability of a perception system is a method to recognize objects in a given scene. We contribute an approach to object recognition based on the input of an eye-in-hand depth camera, which uses boundary representation (B-Rep) models as the internal data format. Our method applies three steps: generate B-Reps from point clouds, generate and select hypotheses from an object database, as well as build up a world model. In the evaluation, we discuss the classification rate and conclude, that our approach is suitable for robotic applications, as it is an anytime, surface-based method without the need for a prior object segmentation.