Buch, Englisch, Band 34, 172 Seiten, Format (B × H): 160 mm x 241 mm, Gewicht: 453 g
Reihe: The Springer International Series in Engineering and Computer Science
Buch, Englisch, Band 34, 172 Seiten, Format (B × H): 160 mm x 241 mm, Gewicht: 453 g
Reihe: The Springer International Series in Engineering and Computer Science
ISBN: 978-0-89838-245-7
Verlag: Springer US
CHAPTER 7: MATCHING. 95 7. 1 Introduction. 95 7. 2 Design of the matcher. 96 7. 3 Model instantiation. 97 7. 3. 1 Discrimination by size. 98 7. 3. 2 Discrimination by gross shape. 98 7. 3. 3 Feature attribute matching. 99 7. 3. 4 Surface attribute matching. 100 7. 3. 5 Classifying surfaces. 100 7. 3. 6 Relational consistency. 102 7. 3. 7 Ordering matches. 102 7. 4 Verification. 103 7. 4. 1 Computing model-to-scene transformations. 104 7. 4. 2 Matching feature frames. 104 7. 4. 3 Matching surface frames. 105 7. 4. 4 Verification sensing. 107 7. 5 Summary. 108 CHAPTER 8: EXPERIMENTAL RESULTS. 109 8. 1 Introduction. 109 8. 2 Experiment 1. 110 8. 3 Experiment 2. 115 8. 4 Experiment 3. 119 8. 5 Experiment 4. 126 8. 6 Experiment 5. 128 8. 7 Experiment 6. 134 8. 8 Experiment 7. 138 8. 9 Summary. 140 CHAPTER 9: CONCLUSION. 145 9. 1 Introduction. 145 9. 2 Discovering 3-D structure. 145 9. 3 The multi-sensor approach. 146 9. 4 Limitations of the system. 147 9. 5 Future directions. 148 REFERENCES. 151 - viii - APPENDIX: BICUBIC SPLINE SURFACES. 157 1. Introduction. 157 2. Parametric curves and surfaces. 157 3. Coons' patches. 159 3. 1 Linearly interpolated patches. 159 3. 2 Hermite interpolation. 161 3. 3 Curvature continuous patches. 164 INDEX.
Zielgruppe
Research
Autoren/Hrsg.
Fachgebiete
- Technische Wissenschaften Elektronik | Nachrichtentechnik Elektronik Robotik
- Technische Wissenschaften Technik Allgemein Mess- und Automatisierungstechnik
- Mathematik | Informatik EDV | Informatik Informatik Künstliche Intelligenz Computer Vision
- Mathematik | Informatik EDV | Informatik Programmierung | Softwareentwicklung Grafikprogrammierung
Weitere Infos & Material
1: Introduction.- 1.1 The promise of robotics.- 1.2 Improving robotic system performance.- 1.3 System description.- 1.4 Summary.- 2: Model Database.- 2.1 Object models for recognition.- 2.2 Criteria for a recognition model.- 2.3 A hierarchical model data base.- 2.4 Creating the models.- 2.5 Computing surface attributes.- 2.6 Classifying surfaces.- 2.7 Computing hole and cavity attributes.- 2.8 Example model.- 3: 2-D Vision.- 3.1 Introduction.- 3.2 Image acquisition.- 3.3 Thresholding.- 3.4 Edge detection.- 3.5 Segmentation.- 3.6 Summary.- 4: 3-D Vision.- 4.1 Introduction.- 4.2 Computational stereo.- 4.3 Image acquisition.- 4.4 Camera modeling.- 4.5 Camera calibration.- 4.6 Feature acquisition.- 4.7 Image matching.- 4.8 Depth determination.- 4.9 Interpolation.- 4.10 Summary.- 5: Tactile Sensing.- 5.1 Introduction.- 5.2 Capabilities of tactile sensors.- 5.3 Summary of tactile sensing.- 5.4 Experimental tactile sensor.- 5.5 Organization of tactile processing.- 5.6 Low level tactile processing.- 5.7 Intermediate level tactile processing.- 5.8 Summary.- 6: Integrating Vision and Touch.- 6.1 Introduction.- 6.2 Composite bicubic surfaces.- 6.3 Building level 0 surfaces.- 6.4 Building higher level surfaces.- 6.5 Building hole and cavity descriptions.- 6.6 Summary.- 7: Matching.- 7.1 Introduction.- 7.2 Design of the matcher.- 7.3 Model instantiation.- 7.4 Verification.- 7.5 Summary.- 8: Experimental Results.- 8.1 Introduction.- 8.2 Experiment 1.- 8.3 Experiment 2.- 8.4 Experiment 3.- 8.5 Experiment 4.- 8.6 Experiment 5.- 8.7 Experiment 6.- 8.8 Experiment 7.- 8.9 Summary.- 9: Conclusion.- 9.1 Introduction.- 9.2 Discovering 3-D structure.- 9.3 The multi-sensor approach.- 9.4 Limitations of the system.- 9.5 Future directions.- References.- Appendix: Bicubic Spline Surfaces.- 1. Introduction.- 2. Parametric curves and surfaces.- 3. Coons’ patches.- 3.1 Linearly interpolated patches.- 3.2 Hermite interpolation.- 3.3 Curvature continuous patches.
