3D object recognition using spin-images for a humanoid stereoscopic vision system

— This paper presents a 3D object recognition method based on spin-images for a humanoid robot having a stereoscopic vision system. Spin-images have been proposed to search CAD models database, and use 3D range informations. In this context, the use of a vision system is taken into account through a multi-resolution approach. A method for quickly computing multi-resolution and interpolating spin-images is proposed. The results on simulation and on real data are given, and show the effectiveness of this method.

• Type: Conference
• Year: 2006
• Where: IROS
• Authors: Olivier Stasse, Sylvain Dupitier, Kazuhito Yokoi
• Keywords: IROS 2006, Multi-resolution Approach, Object Recognition Method, Robotics, Stereoscopic Vision System