JRM Vol.21 No.6 pp. 672-679
doi: 10.20965/jrm.2009.p0672


3D Object Modeling and Segmentation Using Image Edge Points in Cluttered Environments

Masahiro Tomono

Future Robotics Technology Center, Chiba Institute of Technology

May 31, 2009
September 30, 2009
December 20, 2009
object segmentation, object modeling, object recognition, map building

Object models are indispensable for robots to recognize objects when conducting tasks. This paper proposes a method of creating object models from images captured in real environments using a monocular camera. In our framework, an object model consists of a 3D model composed of 3D points reconstructed from image edge points and 2D models composed of image edge points, each having a SIFT descriptor for object recognition. To address the difficulty in creating object models of separating objects from background clutter, we separate the object of interest by finding edge points which cooccur in images with different backgrounds. We employ supervised and unsupervised schemes to provide training images for segmentation. Experimental results demonstrated that detailed 3D object models are successfully separated and created.

Cite this article as:
Masahiro Tomono, “3D Object Modeling and Segmentation Using Image Edge Points in Cluttered Environments,” J. Robot. Mechatron., Vol.21, No.6, pp. 672-679, 2009.
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