Infrared Image-Based 3D Surface Reconstruction of Free-Form Texture-Less Objects

Karolina Przerwa , Włodzimierz Kasprzak , Maciej Stefańczyk


The analysis of infrared (IR) images obtained from a robot- mounted camera is presented, with the purpose to reconstruct the 3D surface of texture-less objects located in close range to the camera. The prospective application of this approach is object's pose recognition with the aim to object grasping by a robot hand. Algorithms are developed that rely on the analysis of the luminance distribution in the IR image (the so called shape-from-shading approach), with depth-map approxi- mation and segmentation. Laboratory tests were carried out in order to evaluate the quality of obtained depth maps on some reference objects and to compare an estimated depth map with a corresponding point cloud acquired by a MS-Kinect device.
Author Karolina Przerwa (FEIT / AK)
Karolina Przerwa,,
- The Institute of Control and Computation Engineering
, Włodzimierz Kasprzak (FEIT / AK)
Włodzimierz Kasprzak,,
- The Institute of Control and Computation Engineering
, Maciej Stefańczyk (FEIT / AK)
Maciej Stefańczyk,,
- The Institute of Control and Computation Engineering
Publication size in sheets0.55
Book Burduk Robert, Jackowski Konrad, Kurzyński Marek, Woźniak Michał (eds.): Proceedings of the 9th International Conference on Computer Recognition Systems CORES 2015, 2016, Springer International Publishing, ISBN 978-3-319-26227-7, 855 p., DOI:10.1007/978-3-319-26227-7
ProjectDevelopment of methodology of control, decision support and production management. Project leader: Zieliński Cezary, , Phone: 5102, start date 19-05-2015, end date 31-12-2016, 504/02233/1031, Completed
WEiTI Działalność statutowa
Languageen angielski
Przerwa i in CORES sfs-kinect.pdf 2.48 MB
Score (nominal)15
Score sourceconferenceIndex
ScoreMinisterial score = 15.0, 04-02-2020, BookChapterMatConfByConferenceseries
Ministerial score (2013-2016) = 15.0, 04-02-2020, BookChapterMatConfByConferenceseries
Publication indicators WoS Citations = 0; Scopus Citations = 0; GS Citations = 1.0
Citation count*1 (2020-08-17)
Share Share

Get link to the record

* presented citation count is obtained through Internet information analysis and it is close to the number calculated by the Publish or Perish system.
Are you sure?