method for reconstructing object models lucian cosmin goron phd student robotics research group...
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METHOD FOR RECONSTRUCTING OBJECT MODELS
Lucian Cosmin GORON
PhD studentRobotics Research Group
Universitatea Tehnica Cluj-Napoca
NOV 2010 METHOD FOR RECONSTRUCTING OBJECT MODELS
UTCLUJ RRG CoTeSys IAS TUM
2010 CoTeSyS-ROS Fall School
ABOUT
My Goal
• Method for Object Recognition based on 3D and Image Data
• of Common Household Objects
My Objectives
• 3D Reconstruction and Verification of Object Models using Automatic Layering
• Calibration and Fusion of 3D and Image Data for Initial Processing
• Feature Extraction and Classification for Object Recognition
NOV 2010 METHOD FOR RECONSTRUCTING OBJECT MODELS
OBJECTIVE
3D Reconstruction and Verification of Object Models using Automatic Layering
Segmentation / Footprints / Layering / Fitting / Correction / Reconstruction / Verification
NOV 2010 METHOD FOR RECONSTRUCTING OBJECT MODELS
METHODS
• RANdom SAmple Consensus (RANSAC) and Hough Transform (HT)
• Region Growing Method for Clustering Objects
• Identifying Boundary Points of Regions’ Footprints
• Quadrilateral Approximation Technique (QAT) for Clusters using
Principle Component Analysis (PCA)
• Automatic Decomposition of Clusters into Layers for Improved Reconstruction
• Hierarchical Model Fitting and Validation
• Methods for Dealing with Over- and Under-Segmentation Problems by Merging and
Splitting of Models
• Identifying Occluded Parts and Inconsistencies of Models
NOV 2010 METHOD FOR RECONSTRUCTING OBJECT MODELS
Q & A
[1] Z. C. Marton, L. C. Goron, R. B. Rusu, M. Beetz, “Reconstruction and Verification of 3D Object Models for Grasping,” In: Proceedings of the 14th International Symposium on Robotics Research (ISRR), Lucerne, Switzerland, 2009
[2] L. C. Goron, Z. C. Marton, G. Lazea, M. Beetz, “Automatic Layered 3D Reconstruction of Simplified Object Models for Grasping,” In: Proceedings of the Joint Conference of the 41st International Symposium on Robotics (ISR) and the 6th German Conference on Robotics (ROBOTIK), Munich, Germany, 2010
Thank You !
NOV 2010 METHOD FOR RECONSTRUCTING OBJECT MODELS