3D object recognition via multi-view inspection in unknown environments

摘要

This paper presents a system for object recognition and localization within unknown indoor environments. The system includes a GUI design through which the user may describe an object of interest by means of color, size, and shape. A novel coarse to fine identification mechanism that incorporates multiple views of an object is then used to locate the described object within an unknown environment. The system includes a training stage in which representative information is extracted from database images. A stereo vision system, mounted on an indoor robot platform (Fig. 1), is used to retrieve the 3D location of potential match candidates in the scene and to inspect possible matches from three distinct viewpoints. Experimental evaluation is performed for indoor environments and promising results are shown for the application of this system.