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Summary: EÆcient 3D Vertex Detection in Range Images
Acquired with a Laser Sensor
Dimitrios Katsoulas and Lothar Bergen
Institute for Pattern Recognition and Image Processing,
Computer Science Department,
Albert-Ludwigs-Universitat Freiburg, Germany
dkats@informatik.uni-freiburg.de,
http://lmb.informatik.uni-freiburg.de
Abstract. In many branches of industry, piled box-like objects have to
be recognized, grasped and transfered. Unfortunately, existing systems
only deal with the most simple con gurations (i.e. neatly placed boxes)
e ectively. It is known that the detection of 3D-vertices is a crucial step
towards the solution of the problem, since they reveal essential informa-
tion about the location of the boxes in space. In this paper we present
a technique based on edge detection and robust line tting, which ef-
ciently detects 3D-vertices. Combining this technique with the advan-
tages of a time of
ight laser sensor for data acquisition, we obtain a
fast system which can operate in adverse environments independently of
lighting conditions.
1 Introduction
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