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Indexing and alignment of 3-D objects using geometric quasi-invariants

Published online by Cambridge University Press:  05 April 2001

P. Vasseur,
C. Pegard,
E. Mouaddib and
L. Delahoche
P. Vasseur
Affiliation:
Perception in Robotics Department, GRACSY (Groupe de Recherche sur l'Analyse et la Commande des Systèmes), University of Picardie, 7, rue du Moulin Neuf, 8 Amiens France. E-mail: Pascal.Vasseur@sc.u-picardie.fr
C. Pegard
Affiliation:
Perception in Robotics Department, GRACSY (Groupe de Recherche sur l'Analyse et la Commande des Systèmes), University of Picardie, 7, rue du Moulin Neuf, 8 Amiens France. E-mail: Pascal.Vasseur@sc.u-picardie.fr
E. Mouaddib
Affiliation:
Perception in Robotics Department, GRACSY (Groupe de Recherche sur l'Analyse et la Commande des Systèmes), University of Picardie, 7, rue du Moulin Neuf, 8 Amiens France. E-mail: Pascal.Vasseur@sc.u-picardie.fr
L. Delahoche
Affiliation:
Perception in Robotics Department, GRACSY (Groupe de Recherche sur l'Analyse et la Commande des Systèmes), University of Picardie, 7, rue du Moulin Neuf, 8 Amiens France. E-mail: Pascal.Vasseur@sc.u-picardie.fr
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Abstract

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In this paper, we are introducing a system which is able to recognize polyhedral objects in an indoor environment. Our system is intended to be implemented on autonomous mobile platforms in order to enable the localization or research of a precise item. The algorithm is based on the use of geometric quasi-invariants associated to every object. These geometric quasi-invariants correspond to the ratio of the lengths as well as the angle formed by the pair of segments which are in relationship and which are constituting the object. We present some experimental results gained on one of our platforms in our laboratory.

Keywords

3-D objectsIndexingAlignmentGeometric quasi-invariantsIndoor environmentMobile robots

Information

Type
Research Article
Information
Robotica , Volume 16 , Issue 6 , November 1998, pp. 651 - 658
Copyright
© 1998 Cambridge University Press