<abstract xmlns="http://www.w3.org/1999/xhtml"><p>RGB-D sensors became a standard in robotic applications requiring object recognition, such as object grasping and manipulation. A typical object recognition system relies on matching of features extracted from RGB-D images retrieved from the robot sensors with the features of the object models. In this paper we present ModReg: a system for registration of 3D models of objects. The system consists of a modular software associated with a multi-camera setup supplemented with an additional pattern projector, used for the registration of high-resolution RGB-D images. The objects are placed on a fiducial board with two dot patterns enabling extraction of masks of the placed objects and estimation of their initial poses. The acquired dense point clouds constituting subsequent object views undergo pairwise registration and at the end are optimized with a graph-based technique derived from SLAM. The combination of all those elements resulted in a system able to generate consistent 3D models of objects.</p></abstract>

RGB-D sensors became a standard in robotic applications requiring object recognition, such as object grasping and manipulation. A typical object recognition system relies on matching of features extracted from RGB-D images retrieved from the robot sensors with the features of the object models. In this paper we present ModReg: a system for registration of 3D models of objects. The system consists of a modular software associated with a multi-camera setup supplemented with an additional pattern projector, used for the registration of high-resolution RGB-D images. The objects are placed on a fiducial board with two dot patterns enabling extraction of masks of the placed objects and estimation of their initial poses. The acquired dense point clouds constituting subsequent object views undergo pairwise registration and at the end are optimized with a graph-based technique derived from SLAM. The combination of all those elements resulted in a system able to generate consistent 3D models of objects.

Modreg: A Modular Framework for RGB-D Image Acquisition and 3D Object Model Registration

Institute of Control and Computation Engineering

Foundations of Computing and Decision Sciences

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

RGB-D sensors became a standard in robotic applications requiring object recognition, such as object grasping and manipulation. A typical object recognition...

Modreg: A Modular Framework for RGB-D Image Acquisition and 3D Object Model Registration

Publié en ligne: 09 sept. 2017

Pages: 183 - 201

DOI: https://doi.org/10.1515/fcds-2017-0009

Mots clés
ModReg, textured stereo, RGB-D image, point cloud, registration

© 2017 Tomasz Kornuta et al., published by De Gruyter Open

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Modreg: A Modular Framework for RGB-D Image Acquisition and 3D Object Model Registration

Publié en ligne: 09 sept. 2017

Pages: 183 - 201

DOI: https://doi.org/10.1515/fcds-2017-0009

Mots clésModReg, textured stereo, RGB-D image, point cloud, registration

© 2017 Tomasz Kornuta et al., published by De Gruyter Open

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Mots clés
ModReg, textured stereo, RGB-D image, point cloud, registration