Matching using object models generated from photometric stereo images

Gunter Bellaire; Karsten Schluens; K. Oppermann; W. Schimke

doi:10.1117/12.232253

21 February 1996 Matching using object models generated from photometric stereo images

Gunter Bellaire, Karsten Schluens, K. Oppermann, W. Schimke

Proceedings Volume 2665, Machine Vision Applications in Industrial Inspection IV; (1996) https://doi.org/10.1117/12.232253
Event: Electronic Imaging: Science and Technology, 1996, San Jose, CA, United States

Abstract

In this paper we present a complete 3-D object recognition system. The task of the system is the separation of different plastic salvage for recycling of goods' packages. In Germany separation is done by hand. This hand separation is expensive and gains bad results, caused by the work circumstances. The system holds the following characteristics: (1) Viewer centered object representation -- the used extended surface normal image (ESNI) model is a new and promising representative of this approach. (2) Photometric Stereo Method (PSM) -- we have integrated a specular high light elimination and we have developed a method, that combines dense gradient information and a line drawing of the object. (3) An adaptive hierarchical indexing of geometric features is used as a first matching step. Thereby an online adaptation by integrating the sensor accuracy is performed. (4) A main feature of the system is the 3-D rotation invariance of the unique base face orientation achieved by PSM. A color indexing and an intelligent template matching method are introduced to receive the recognition fine-tuning. Both methods are powerful but assume a fixed 3-D orientation of the objects. Because of the achieved (well-defined) base face orientation this restriction is overcome. We show results of experiments with real, deformed and dirty goods' packages.

Citation Download Citation

Gunter Bellaire, Karsten Schluens, K. Oppermann, and W. Schimke "Matching using object models generated from photometric stereo images", Proc. SPIE 2665, Machine Vision Applications in Industrial Inspection IV, (21 February 1996); https://doi.org/10.1117/12.232253

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available