Bin-Picking based on Harmonic Shape Contexts and Graph-Based Matching

Thomas B. Moeslund, Jakob Kirkegaard

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Resumé

In this work we address the general bin-picking problem where 3D data is available. We apply Harmonic Shape Contexts (HSC) features since these are invariant to translation, scale, and 3D rotation. Each object is divided into a number of sub-models each represented by a number of HSC features. These are compared with HSC features extracted in the current data using a graph-based scheme. Results show that the approach is somewhat sensitive to noise, but works in presence of occlusion.
OriginalsprogEngelsk
Titel18th. International Conference on Pattern Recognition 2006. ICPR 2006
Antal sider4
Vol/bind2
Publikationsdato2006
Sider581-584
StatusUdgivet - 2006
Begivenhed18th International Conference on Pattern Recognition, 2006. ICPR 2006 - Hong Kong, Kina
Varighed: 20 aug. 200624 aug. 2006
Konferencens nummer: 18

Konference

Konference18th International Conference on Pattern Recognition, 2006. ICPR 2006
Nummer18
LandKina
ByHong Kong
Periode20/08/200624/08/2006

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Moeslund, T. B., & Kirkegaard, J. (2006). Bin-Picking based on Harmonic Shape Contexts and Graph-Based Matching. I 18th. International Conference on Pattern Recognition 2006. ICPR 2006 (Bind 2, s. 581-584)
Moeslund, Thomas B. ; Kirkegaard, Jakob. / Bin-Picking based on Harmonic Shape Contexts and Graph-Based Matching. 18th. International Conference on Pattern Recognition 2006. ICPR 2006. Bind 2 2006. s. 581-584
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abstract = "In this work we address the general bin-picking problem where 3D data is available. We apply Harmonic Shape Contexts (HSC) features since these are invariant to translation, scale, and 3D rotation. Each object is divided into a number of sub-models each represented by a number of HSC features. These are compared with HSC features extracted in the current data using a graph-based scheme. Results show that the approach is somewhat sensitive to noise, but works in presence of occlusion.",
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Moeslund, TB & Kirkegaard, J 2006, Bin-Picking based on Harmonic Shape Contexts and Graph-Based Matching. i 18th. International Conference on Pattern Recognition 2006. ICPR 2006. bind 2, s. 581-584, 18th International Conference on Pattern Recognition, 2006. ICPR 2006, Hong Kong, Kina, 20/08/2006.

Bin-Picking based on Harmonic Shape Contexts and Graph-Based Matching. / Moeslund, Thomas B.; Kirkegaard, Jakob.

18th. International Conference on Pattern Recognition 2006. ICPR 2006. Bind 2 2006. s. 581-584.

Publikation: Bidrag til bog/antologi/rapport/konference proceedingKonferenceartikel i proceedingForskningpeer review

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T1 - Bin-Picking based on Harmonic Shape Contexts and Graph-Based Matching

AU - Moeslund, Thomas B.

AU - Kirkegaard, Jakob

PY - 2006

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N2 - In this work we address the general bin-picking problem where 3D data is available. We apply Harmonic Shape Contexts (HSC) features since these are invariant to translation, scale, and 3D rotation. Each object is divided into a number of sub-models each represented by a number of HSC features. These are compared with HSC features extracted in the current data using a graph-based scheme. Results show that the approach is somewhat sensitive to noise, but works in presence of occlusion.

AB - In this work we address the general bin-picking problem where 3D data is available. We apply Harmonic Shape Contexts (HSC) features since these are invariant to translation, scale, and 3D rotation. Each object is divided into a number of sub-models each represented by a number of HSC features. These are compared with HSC features extracted in the current data using a graph-based scheme. Results show that the approach is somewhat sensitive to noise, but works in presence of occlusion.

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BT - 18th. International Conference on Pattern Recognition 2006. ICPR 2006

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Moeslund TB, Kirkegaard J. Bin-Picking based on Harmonic Shape Contexts and Graph-Based Matching. I 18th. International Conference on Pattern Recognition 2006. ICPR 2006. Bind 2. 2006. s. 581-584