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Paladyn, Journal of Behavioral Robotics

Editor-in-Chief: Schöner, Gregor


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CiteScore 2018: 2.17

SCImago Journal Rank (SJR) 2018: 0.336
Source Normalized Impact per Paper (SNIP) 2018: 1.707

ICV 2017: 99.90

Open Access
Online
ISSN
2081-4836
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Feasibility Study of Textureless Object Detection and Pose Estimation Based on a Model with 3D Edgels and Surfaces

Kimitoshi Yamazaki / Kiyohiro Sogen / Takashi Yamamoto / Masayuki Inaba
Published Online: 2015-12-28 | DOI: https://doi.org/10.1515/pjbr-2015-0012

Abstract

This paper describes a method for the detection of textureless objects. Our target objects include furniture and home appliances, which have no rich textural features or characteristic shapes. Focusing on the ease of application, we define a model that represents objects in terms of three-dimensional edgels and surfaces. Object detection is performed by superimposing input data on the model. A two-stage algorithm is applied to bring out object poses. Surfaces are used to extract candidates fromthe input data, and edgels are then used to identify the pose of a target object using two-dimensional template matching. Experiments using four real furniture and home appliances were performed to show the feasibility of the proposed method.We suggest the possible applicability in occlusion and clutter conditions.

Keywords : object detection; pose estimation; textureless object; 3D edgel

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About the article

Received: 2014-04-09

Accepted: 2015-11-16

Published Online: 2015-12-28


Citation Information: Paladyn, Journal of Behavioral Robotics, Volume 6, Issue 1, ISSN (Online) 2081-4836, DOI: https://doi.org/10.1515/pjbr-2015-0012.

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© 2015 Kimitoshi Yamazaki et al.. This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License. BY-NC-ND 3.0

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