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2006
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Box-like Superquadric Recovery in Range Images by Fusing Region and Boundary Information

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Box-like Superquadric Recovery in Range Images by Fusing Region and Boundary Information
This work contributes to the robotic bin-picking problem, and more specifically to the problem of localizing piled box-like objects. We employ range imagery, and use box-like Superquadrics for modeling the target objects. Our approach for Superquadric segmentation is an extension of the widespread recover-and-select framework, which employs only region information and therefore suffers from the region over- growing problem. Our approach equally considers both region and boundary-based information for performing the recovery task. Extensive experimentation with a variety of target object configurations demonstrates that it outperforms the recover-and-select framework in terms of both robustness and computational efficiency. Moreover, if implemented in a parallel hardware environment, our approach can operate in real time.
Dimitrios I. Kosmopoulos, Dimitrios Katsoulas
Added 09 Nov 2009
Updated 09 Nov 2009
Type Conference
Year 2006
Where ICPR
Authors Dimitrios I. Kosmopoulos, Dimitrios Katsoulas
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