Université de Neuchâtel

Computer vision of free-form 3D objects by geometric matching

Hügli, Heinz ; Schütz, Christian

In: Proceeding. Mecatronics, Europe-Asia congress on Mechatronics, 1996, p. 1-5

This paper presents a method to localize a mobile robot in a topological map. This work enters a navigation method developed for mobile robots, which basic idea is to represent the robot spatial knowledge by a topological map and to use the behavioral approach to control the robot moves between fixed positions of the environment known as self-positioning sites. A feature of this method is that...

Université de Neuchâtel

Semi-automatic 3D object digitizing system using range images

Schütz, Christian ; Jost, Timothée ; Hügli, Heinz

In: Computer Vision - ACCV'98 (Asian Conference on Computer Vision), 1998, vol. 1351, p. 490-497

Manual object digitizing is a tedious task and can be replaced by 3D scanners which provide an accurate and fast way to digitize solid objects. Since only one view of an object can be captured at once, several views have to be combined in order to obtain a description of the complete surface. In this paper a digitizing system is proposed which captures and triangulates views of a real world 3D...

Université de Neuchâtel

Free-form 3D object reconstruction from range images

Schütz, Christian ; Jost, Timothée ; Hügli, Heinz

In: Proceedings. International Conference on Virtual Systems and MultiMedia (VSMM '97), 1997, p. 69-80

The increasing use of virtual object representations for several applications creates a need for fast and simple object digitizing systems. Range finders provide a convenient way to digitize solid objects and permit the accurate and fast scanning of an object shape without any probe contact. However, only one view of an object can be captured at once, and therefore, for most objects, several...

Université de Neuchâtel

Geometric matching for free-form 3D object recognition

Hügli, Heinz ; Schütz, Christian ; Semitekos, Dimitrios

In: Proceeding ACCV'95 (Asian Conference on Computer Vision), 1995, p. 1-6

This paper investigates a new approach to the recognition of 3D objects of arbitrary shape. The proposed solution follows the principle of model-based recognition using geometric 3D models and geometric matching. It is an alternative to the classical segmentation and primitive extraction approach and provides a perspective to escape the difficulties found with it when dealing with free-form...

Université de Neuchâtel

Free-form 3D object recognition

Schütz, Christian ; Hügli, Heinz

In: Proceeding ISPRS, Third Conference on Optical 3-D Measurement Techniques, 1995, p. 1-10

This paper investigates a new approach to the recognition of 3D objects of arbitrary shape. The proposed solution follows the principle of model-based recognition using geometric 3D models and geometric matching. It is an alternative to the classical segmentation and primitive extraction approach and provides a perspective to escape its difficulties to deal with free-form shapes. Using the...

Université de Neuchâtel

Recognition of 3-D objects with a closest point matching algorithm

Schütz, Christian ; Hügli, Heinz

In: From Pixels to Sequences - Sensors, algorithms and systems (Proceedings conference ISPRS intercommission workshop), 1995, vol. 30, no. 5W1, p. 128-133

This paper is a contribution to the recognition of arbitrary 3-D shapes from range images. Recently, a closest point matching algorithm was proposed that is in a position to match 3-D shapes without the need of an explicit object description in terms of primitives. The advantage is that the comparison works directly on the 3-D coordinates of the surface points and needs neither segmentation nor...

Université de Neuchâtel

Multi-feature matching algorithm for free-form 3D surgace registration

Schütz, Christian ; Jost, Timothée ; Hügli, Heinz

In: Proceedings. 14th International Conference on Pattern Recognition (ICPR), 1998, vol. 2, p. 982-984

Applications such as object digitizing, object recognition and object inspection need efficient surface matching algorithms. Several variants of an iterative closest point (ICP) matching algorithm have been proposed for such tasks. This paper proposes and analyzes a multi-feature ICP matching algorithm that includes the surface color and the surface orientation information. The matching error...

Université de Neuchâtel

Geometric matching of 3D objects: assessing the range of successful configurations

Hügli, Heinz ; Schütz, Christian

In: Proceedings, International Conference on Recent Advances in 3-D Digital Imaging and Modeling, 1997, p. 101-106

This paper considers the matching of 3D objects by a geometric approach based on the iterative closest point algorithm (ICP), which, starting from an initial configuration of two rigid objects, iteratively finds their best correspondence. The algorithm does not converge always to the best solution. It can be trapped in a local minimum and miss the optimum matching. While the convergence of this...