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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

Robot Self-localization Using Visual Attention

Ouerhani, Nabil ; Hügli, Heinz

In: Proceedings. 6th IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA), 2005, p. 309-314

This paper presents a robot self-localization method based on visual attention. This method takes advantage of the saliency-based model of attention to automatically learn configurations of salient visual landmarks along a robot path. During navigation, the visual attention algorithms detect a set of conspicuous visual features which are compared with the learned landmark configurations in order...

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

A multi-resolution ICP with heuristic closest point search for fast and robust 3D registration of range images

Jost, Timothée ; Hügli, Heinz

In: Proceedings. 4th International Conference on 3-D Digital Imaging and Modeling (3 DIM), 2003, p. 427-433

The iterative closest point (ICP) algorithm is widely used for the registration of 3D geometric data. One of the main drawbacks of the algorithm is its quadratic time complexity O(N2) with the number of points N. Consequently, several methods have been proposed to accelerate the process. We present a new solution for the speeding up of the ICP algorithm and special care is taken to...

Université de Neuchâtel

A multi-resolution scheme ICP algorithm for fast shape registration

Jost, Timothée ; Hügli, Heinz

In: Proceedings. First International Symposium on 3D Data Processing Visualization and Transmission, 2002, p. 540- 543

The iterative closest point (ICP) algorithm is widely used for the registration of geometric data. One of its main drawbacks is its quadratic time complexity O(N2) with the shape number of points N, which implies long processing time, especially when using high resolution data. This paper proposes to accelerate the process by a coarse to fine multiresolution approach in which a...

Université de Neuchâtel

Self-Positioning Robot Navigation Using Ceiling Image Sequences

Facchinetti Claudio ; Tièche, François ; Hügli, Heinz

In: Proceeding ACCV'95 (Asian Conference on Computer Vision), 1995, vol. 3, p. 814-818

This paper presents the analysis of a vision-based homing behavior that provides self-positioning for a mobile robot using ceiling structures as landmarks. This new behavior enters the navigation approach we developed for mobile robots, which basic idea is to represent the robot spatial knowledge in a topological map, where nodes consist of self-positioning sites and edges may be any reactive...

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

Robot Navigation by Panoramic Vision and Attention Guided Features

Bur, A. ; Tapus, A. ; Ouerhani, Nabil ; Siegwar, R. ; Hügli, Heinz

In: Proceedings. 18th International Conference on Pattern Recognition (ICPR), 2006, vol. 1, p. 695-698

In visual-based robot navigation, panoramic vision emerges as a very attractive candidate for solving the localization task. Unfortunately, current systems rely on specific feature selection processes that do not cover the requirements of general purpose robots. In order to fulfil new requirements of robot versatility and robustness to environmental changes, we propose in this paper to perform...