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The International Journal of Robotics Research
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Geometrical Modeling from Multiple Stereo Views

S.B. Pollard

Artificial Intelligence Vision Research Unit Sheffield University Western Bank Sheffield S10 2TN, England

T.P. Pridmore

Artificial Intelligence Vision Research Unit Sheffield University Western Bank Sheffield S10 2TN, England

J. Porrill

Artificial Intelligence Vision Research Unit Sheffield University Western Bank Sheffield S10 2TN, England

J.E.W. Mayhew

Artificial Intelligence Vision Research Unit Sheffield University Western Bank Sheffield S10 2TN, England

J.P. Frisby

Artificial Intelligence Vision Research Unit Sheffield University Western Bank Sheffield S10 2TN, England

The components of the Sheffield Artificial Intelligence Vision Research Unit (AIVRU) three-dimensional (3D) vision sys tem, which currently supports model-based object recognition and location, are described. Its potential for robotics applica tions is demonstrated by its guidance of a Universal Machine Intelligence robot arm in a pick-and-place task. The system comprises (1) the recovery of a sparse depth map using edge- based, passive stereo triangulation; (2) the grouping, descrip tion, and segmentation of edge segments to recover a 3D representation of the scene geometry in terms of straight lines and circular arcs; (3) the statistical combination of 3D de scriptions for object model creation from multiple stereo views and the propagation of constraints for within-view re finement ; and (4) the matching of 3D wireframe object models to 3D scene descriptions in order to recover an initial estimate of their position and orientation.

The International Journal of Robotics Research, Vol. 8, No. 4, 3-32 (1989)
DOI: 10.1177/027836498900800401
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