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 IAiIS
Karolina Przerwa,,
- The Institute of Control and Computation Engineering
, Włodzimierz Kasprzak IAiIS
Włodzimierz Kasprzak,,
- The Institute of Control and Computation Engineering
, Maciej Stefańczyk IAiIS
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 (file archived - login or check accessibility on faculty) Przerwa i in CORES sfs-kinect.pdf 2.48 MB
Score (nominal)15
ScoreMinisterial score = 15.0, 27-03-2017, BookChapterMatConf
Ministerial score (2013-2016) = 15.0, 27-03-2017, BookChapterMatConf
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