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METHOD FOR RECONSTRUCTING OBJECT MODELS

RRG. IAS. TUM. CoTeSys. UTCLUJ. 2010 CoTeSyS-ROS Fall School. METHOD FOR RECONSTRUCTING OBJECT MODELS. Lucian Cosmin GORON PhD student Robotics Research Group Universitatea Tehnica Cluj-Napoca. NOV 2010 METHOD FOR RECONSTRUCTING OBJECT MODELS. ABOUT. My Goal

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METHOD FOR RECONSTRUCTING OBJECT MODELS

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  1. RRG IAS TUM CoTeSys UTCLUJ 2010 CoTeSyS-ROS Fall School METHOD FOR RECONSTRUCTING OBJECT MODELS Lucian Cosmin GORON PhD student Robotics Research Group Universitatea Tehnica Cluj-Napoca NOV 2010 METHOD FOR RECONSTRUCTING OBJECT MODELS

  2. ABOUT My Goal • Method for Object Recognition based on 3D and Image Data • of Common Household Objects My Objectives • 3D Reconstruction and Verification of Object Models using Automatic Layering • Calibration and Fusion of 3D and Image Data for Initial Processing • Feature Extraction and Classification for Object Recognition NOV 2010 METHOD FOR RECONSTRUCTING OBJECT MODELS

  3. OBJECTIVE 3D Reconstruction and Verification of Object Models using Automatic Layering Segmentation / Footprints / Layering / Fitting / Correction / Reconstruction / Verification NOV 2010 METHOD FOR RECONSTRUCTING OBJECT MODELS

  4. METHODS • RANdom SAmple Consensus (RANSAC) and Hough Transform (HT) • Region Growing Method for Clustering Objects • Identifying Boundary Points of Regions’ Footprints • Quadrilateral Approximation Technique (QAT) for Clusters using • Principle Component Analysis (PCA) • Automatic Decomposition of Clusters into Layers for Improved Reconstruction • Hierarchical Model Fitting and Validation • Methods for Dealing with Over- and Under-Segmentation Problems by Merging and Splitting of Models • Identifying Occluded Parts and Inconsistencies of Models NOV 2010 METHOD FOR RECONSTRUCTING OBJECT MODELS

  5. EXPERIMENTAL RESULTS NOV 2010 METHOD FOR RECONSTRUCTING OBJECT MODELS

  6. EXPERIMENTAL RESULTS NOV 2010 METHOD FOR RECONSTRUCTING OBJECT MODELS

  7. Q & A [1] Z. C. Marton, L. C. Goron, R. B. Rusu, M. Beetz, “Reconstruction and Verification of 3D Object Models for Grasping,” In: Proceedings of the 14th International Symposium on Robotics Research (ISRR), Lucerne, Switzerland, 2009 [2] L. C. Goron, Z. C. Marton, G. Lazea, M. Beetz, “Automatic Layered 3D Reconstruction of Simplified Object Models for Grasping,” In: Proceedings of the Joint Conference of the 41st International Symposium on Robotics (ISR) and the 6th German Conference on Robotics (ROBOTIK), Munich, Germany, 2010 Thank You ! NOV 2010 METHOD FOR RECONSTRUCTING OBJECT MODELS

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