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Registration of 2D Objects in 3D data
Linköping University, Department of Electrical Engineering, Computer Vision. Linköping University, Faculty of Science & Engineering.
2015 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesisAlternative title
Registrering av 2D objekt i 3D data (Swedish)
Abstract [en]

In the field of industrial automation large savings can be realized if position andorientation of an object is known. Knowledge about an objects position and orien-tation can be used by advanced robotic systems to be able to work with complexitems. Specifically 2D-objects are a big enough sub domain to motivate specialattention. Traditionally this problem has been solved with large mechanical sys-tems that forces the objects into specific configurations. Besides being expensive,taking up a lot of space and having great difficulty handling fragile items, thesemechanical systems have to be constructed for each particular type of object. Thisthesis explores the possibility of using registration algorithms from computer vi-sion based on 3D-data to find flat objects. While systems for locating 3D objectsalready exists they have issues with locating essentially flat objects since theirpositioning is mostly a function of their contour. The thesis consists of a briefexamination of 2D-algorithms and their extension to 3D as well as results fromthe most suitable algorithm.

Abstract [sv]

Inom fältet industriautomation kan stora besparingar realiseras om man kännertill position och orientering av föremål i deras leverade skick. Kunskap om dettatillåter avancerade robotsystem att arbeta med komplicerade föremål. Specifikt2D föremål är en tillräckligt stor underdomän för att motivera speciallösningar.Traditionellt har det här problemet lösts med stora mekaniska system, som, utö-ver att de är dyra, tar upp mycket yta och har svårt att hantera ömtåliga objektäven måste konstrueras som en specifik lösning för varje objektstyp. Denna upp-sats undersöker möjligheten att använda sig av registreringsalgoritmer baseradepå datorseende i 3D-data för att hitta platta föremål. Det finns system som han-terar lokalisering av 3D objekt men de har problem med att hantera essentieltplatta föremål då deras positionering främst är en funktion av deras kontur. Upp-satsen består av en undersökning av några 2D-algoritmer och deras uttökning till3D samt resultat från en implementation som fungerar väl.

Place, publisher, year, edition, pages
2015. , 44 p.
National Category
Signal Processing
URN: urn:nbn:se:liu:diva-119338ISRN: LiTH-ISY-EX–15/4848–SEOAI: diva2:821158
External cooperation
Sick IVP
Subject / course
Computer Vision Laboratory
Available from: 2015-06-15 Created: 2015-06-14 Last updated: 2015-06-15Bibliographically approved

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Ingberg, Benjamin
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Computer VisionFaculty of Science & Engineering
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