Model Based 3D Parts Recognition from a Single Image

• Main Authors: Cheng-Yuan Chien, 簡正元
• Other Authors: Du-Ming Tsai
• Format: Others
• Language: zh-TW
• Online Access: http://ndltd.ncl.edu.tw/handle/93895280980328277176

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.