DEPTH GRADIENT IMAGE BASED ON SILHOUETTE - A Solution for Reconstruction of Scenes in 3D Environments

Pilar Merchán, Antonio Adán, Santiago Salamanca

2006

Abstract

Greatest difficulties arise in 3D environments when we have to deal with a scene with dissimilar objects without pose restrictions and where contacts and occlusions are allowed. This work tackles the problem of correspondence and alignment of surfaces in such a kind of scenes. The method presented in this paper is based on a new representation model called Depth Gradient Image Based on Silhouette (DGI-BS) which synthesizes object surface information (through depth) and object shape information (through contour). Recognition and pose problems are efficiently solved for all objects of the scene by using a simple matching algorithm in the DGI-BS space. As a result of this the scene can be virtually reconstructed. This work is part of a robot intelligent manipulation project. The method has been successfully tested in real experimentation environments using range sensors.

Paper Citation

in Harvard Style

Merchán P., Adán A. and Salamanca S. (2006). DEPTH GRADIENT IMAGE BASED ON SILHOUETTE - A Solution for Reconstruction of Scenes in 3D Environments . In Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-972-8865-60-3, pages 112-119. DOI: 10.5220/0001214401120119

in Bibtex Style

@conference{icinco06,
author={Pilar Merchán and Antonio Adán and Santiago Salamanca},
title={DEPTH GRADIENT IMAGE BASED ON SILHOUETTE - A Solution for Reconstruction of Scenes in 3D Environments},
booktitle={Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2006},
pages={112-119},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001214401120119},
isbn={978-972-8865-60-3},
}

in EndNote Style

TY - CONF
JO - Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - DEPTH GRADIENT IMAGE BASED ON SILHOUETTE - A Solution for Reconstruction of Scenes in 3D Environments
SN - 978-972-8865-60-3
AU - Merchán P.
AU - Adán A.
AU - Salamanca S.
PY - 2006
SP - 112
EP - 119
DO - 10.5220/0001214401120119