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- W2171036069 abstract "Robust and accurate object recognition and tracking is a necessary pre-requisite for visual servoing tasks. This paper presents a new approach using disparity images provided by a stereo vision system from which 3D models are reconstructed. We use a segmentation procedure based on a simple region growing process to segment the non-dense 3D images, and compare it to a classical dense range image segmenter. The obtained regions are classified according to a simple model of the target object, and multiple candidates are handled over image sequences by application of the CONDENSATION algorithm. We then use a histogram based clusterization technique to identify the target object pose for visual servoing commands. Experimental results in localizing a door-handle show an accuracy of about 10 cm for the estimated position, while being robust to clutter and noise in the sensor images." @default.
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- W2171036069 date "2002-11-13" @default.
- W2171036069 modified "2023-09-25" @default.
- W2171036069 title "Model-based object tracking using stereo vision" @default.
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- W2171036069 doi "https://doi.org/10.1109/robot.2001.932778" @default.
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