Techniques For Real-Time, 3D, Feature Extraction Using Range Information

Abstract

Recognition of three dimensional (3D) objects in low contrast scenes and in scenes where objects are partially occluded is a challenging problem for advanced 3D sensor based robotic systems. Laser ranging systems measure the surface depth directly and therefore avoid the computation required for construction of a depth map from multiple camera views. Since the physical level knowledge of the surfaces is directly available, the capability for real time object recognition in complex scenes is introduced. This paper discusses some elements of a real time 3D pattern recognition system for sensor based robot applications. The investigation includes a conceptual discussion of the sensor and techniques for feature extraction.