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

Author:

Kornuta Tomasz12,Stefańczyk Maciej2

Affiliation:

1. IBM Research , Almaden, 650 Harry Rd, San Jose , CA 95120

2. Warsaw University of Technology , Institute of Control and Computation Engineering

Abstract

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.

Publisher

Walter de Gruyter GmbH

Cited by 1 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. A universal architectural pattern and specification method for robot control system design;Bulletin of the Polish Academy of Sciences Technical Sciences;2020-01-16

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