METHOD FOR RECONSTRUCTING OBJECT MODELS

Lucian Cosmin GORON

PhD studentRobotics Research Group

Universitatea Tehnica Cluj-Napoca

NOV 2010 METHOD FOR RECONSTRUCTING OBJECT MODELS

UTCLUJ RRG CoTeSys IAS TUM

2010 CoTeSyS-ROS Fall School

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

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

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

EXPERIMENTAL RESULTS

NOV 2010 METHOD FOR RECONSTRUCTING OBJECT MODELS

EXPERIMENTAL RESULTS

NOV 2010 METHOD FOR RECONSTRUCTING OBJECT MODELS

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