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Document type:
Konferenzbeitrag 
Author(s):
Somani, Nikhil; Perzylo, Alexander; Cai, Caixia; Rickert, Markus; Knoll, Alois 
Title:
Object detection using boundary representations of primitive shapes 
Abstract:
In this paper, an approach for matching of primitive shapes detected from point clouds, to boundary representations of primitive shapes contained in CAD models of objects/workpieces is presented. The primary target application is object detection and pose estimation from noisy RGBD sensor data. This approach can also be used to determine incomplete object poses, including those of symmetrical objects. Detection and reasoning about these under-specified object poses is useful in several practical...    »
 
Book / Congress title:
Proceedings of the IEEE International Conference on Robotics and Biomimetics (ROBIO) 
Year:
2015 
Month:
Dec 
Pages:
108--113