Publications / 2004 Proceedings of the 21st ISARC, Jeju, South Korea

Identification of Partially-Exposed Metal Object

Tomohiro Umetani, Yasushi Mae, Tatsuo Arai, Hironori Kumeno, Kenji Inoue, Tomohito Takubo, Hiroshi Niho
Abstract:

This paper describes a method of automated type and pose (position and orientation) identification of partially exposed metal objects that makes excavation of hazardous materials safe and efficient. The object pose is estimated by matching a model of the object to the area that is extracted from the range image using the characteristics of metal objects. Experimental results show feasibility of type and pose identification of partially exposed objects.

Keywords: This paper describes a method of automated type and pose (position and orientation) identification of partially exposed metal objects that makes excavation of hazardous materials safe and efficient. The object pose is estimated by matching a model of the object to the area that is extracted from the range image using the characteristics of metal objects. Experimental results show feasibility of type and pose identification of partially exposed objects.
DOI: https://doi.org/10.22260/ISARC2004/0048
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