Model-Based Free-Form 3D Object Recognition

基于模型的目标识别是计算机视觉研究中一个热门而又困难的分支领域。本课题主要研究基于模型的自由形状物体识别问题。这个问题有许多实际的影响，强大的解决方案将适用于包括现代制造业和自主导航在内的领域。先前在基于模型的识别方面的工作将用于开发适合用于识别的3D对象的表示，具有明确效率目标的原型识别策略，并以标准形式传播他们的研究成果，包括可在互联网上获得的电子档案。该项目有以下主要组成部分：(1)开发适合图像合成和对象识别的自由形状对象的对象表示策略。基于点的表示与表面三角剖分一起被考虑。(2)基于所选择的表示策略开发了一种识别和定位技术。工业合作将使PI能够从真实传感器获得的真实距离数据中获得基于可变分辨率三角测量的自由形状物体模型。小型桌面三轴铣床将用于制造CAD设计中自由形状物体的原型。

Model-based object recognition is a popular and difficult subfield of computer vision research. The problem of model-based recognition of free-form objects is addressed in this project. This problem has many practical ramifications and robust solutions will be applicable in areas including modern manufacturing and autonomous navigation. Prior work in model-based recognition will be used to develop representations for 3D objects which are suitable for use in recognition, prototype recognition strategies with an explicit goal of efficiency, and disseminate their research results in the standard forms, including electronic archives available over the Internet. The project has the following major components: (1) Development of an object representation strategy for free-form objects suitable for both image synthesis and object recognition. Point-based representations are considered along with surface triangulations. (2) Development of a recognition and localization technique based on the representation strategy chosen. An industrial collaboration will allow the PI to obtain variable-resolution triangulation-based models of free-form objects from real range data obtained from real sensors. A small tabletop three-axis mill will be used to fabricate prototypes of free-form objects from CAD designs.