| Presentation | 2003/5/22 Implementation and Verification of a Moving Object Localization System Using Trinocular Stereo Vision Yasushi SUMI, Toshio UESHIBA, Fumiaki TOMITA, |
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| PDF Download Page | PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | We have proposed a robot vision system for 6-DOF localization (Translation:3, Rotation:3) for moving objects. Existing object localization systems have been difficult to deal with moving objects without initial positioning. In solve this problem, we integrate a 3-D object recognition task and a 3-D object tracking task through a large amount of frame buffer which absorbs a computational time-lag between the two tasks. The 6-DOF localization is achieved by matching a 3-D geometrical object model to an input stereo image sequence from a set of trinocular stereo cameras. In this report, we describe the current implementations of this system and present experimental results to demonstrate that the system can deal with objects of any shape including free-form objects. In addition, we demonstrate how complex problems can be solved in terms of processing time and discuss the possibility of applying the system to intelligent robots. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | Object Localization / 6-DOF / Trinocular Stereo Vision / Moving Object / Free-Form Object |
| Paper # | PRMU2003-1 |
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| Conference Information | |
| Committee | PRMU |
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| Conference Date | 2003/5/22(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
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| Paper Information | |
| Registration To | Pattern Recognition and Media Understanding (PRMU) |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Implementation and Verification of a Moving Object Localization System Using Trinocular Stereo Vision |
| Sub Title (in English) | |
| Keyword(1) | Object Localization |
| Keyword(2) | 6-DOF |
| Keyword(3) | Trinocular Stereo Vision |
| Keyword(4) | Moving Object |
| Keyword(5) | Free-Form Object |
| 1st Author's Name | Yasushi SUMI |
| 1st Author's Affiliation | Intelligent Systems Institute, National Institute of Advanced Industrial Science and Technology (AIST)() |
| 2nd Author's Name | Toshio UESHIBA |
| 2nd Author's Affiliation | Intelligent Systems Institute, National Institute of Advanced Industrial Science and Technology (AIST) |
| 3rd Author's Name | Fumiaki TOMITA |
| 3rd Author's Affiliation | Intelligent Systems Institute, National Institute of Advanced Industrial Science and Technology (AIST) |
| Date | 2003/5/22 |
| Paper # | PRMU2003-1 |
| Volume (vol) | vol.103 |
| Number (no) | 95 |
| Page | pp.pp.- |
| #Pages | 6 |
| Date of Issue | |