| Summary: | 碩士 === 元智大學 === 工業工程研究所 === 82 === In this research, a model-based 3D parts recognition from a
single view is presented. We use a single CCD camera at a
single view to recognize a 3D part from its corresponding 2D
image. The use of single camera and single view reduces the
cost of equipment and the complexity of the coordinate
transformation. The objects investigated in this research are
manmade workparts and have general geometric characteristics
with separatable surfaces. For each part under study,we assume
that the edges of part is obtained by the structured lighting
method. A labeling is followed to extract the visible surfaces
from image and genera- te an adjacent matrix that defines the
adjacency between surfa- ces. Under the single camera and
single view, the extracted surfaces may be skewed if the
normals of part surfaces are not parallel to the optical-axis
of the camera. Therefore,we employ a skew normalization
procedure to transform each part surface into its most compact
shape such that the surface becomes view-point invariant. This
model database is used to recognize the part in am image scene.
The match procedure starts by locally matching each visible
surface with the surfaces of a model part in the database. It
follows by a global match that verifies the correctness of
surface adjacency from the adjacent matrix. Finally, a weighted
accumulated value is generated. The model part with the
hightest score of accumulated value indica- te the evidence of
the scene object under test.
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