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Ecient 3D Vertex Detection in Range Images Acquired with a Laser Sensor

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
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


Source: Albert-Ludwigs-Universität Freiburg, Institut für Informatik,, Lehrstuhls für Mustererkennung und Bildverarbeitung


Collections: Computer Technologies and Information Sciences