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

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Proceedings of the 9th International Conference on Computer Recognition Systems CORES 2015

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 403))

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Abstract

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 of 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), followed by a depth-map approximation. Laboratory tests were carried out in order to evaluate the quality of obtained depth maps on some reference objects and to compare the estimated depth maps with corresponding point clouds acquired by a MS-Kinect device.

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References

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Acknowledgments

The authors gratefully acknowledge the financial support of the National Centre for Research and Development (Poland), grant no. PBS1/A3/8/2012.

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Authors and Affiliations

  1. Institute of Control and Computation Engineering, Warsaw University of Technology, ul. Nowowiejska 15/19, 00-665, Warsaw, Poland

    Karolina Przerwa, Włodzimierz Kasprzak & Maciej Stefańczyk

Authors
  1. Karolina Przerwa
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  2. Włodzimierz Kasprzak
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  3. Maciej Stefańczyk
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Corresponding author

Correspondence to Włodzimierz Kasprzak .

Editor information

Editors and Affiliations

  1. Department of Systems, Wrocław University of Technology, Wroclaw, Poland

    Robert Burduk

  2. Department of Systems and Computer, Wrocław University of Technology, Wroclaw, Poland

    Konrad Jackowski

  3. Department of Systems and Computer, Wrocław University of Technology, Wroclaw, Poland

    Marek Kurzyński

  4. Dept. of Systems and Computer Networks, Wrocław University of Technology, Wroclaw, Poland

    Michał Woźniak

  5. Department of Systems, Wrocław University of Technology, Wroclaw, Poland

    Andrzej Żołnierek

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Przerwa, K., Kasprzak, W., Stefańczyk, M. (2016). Infrared Image-Based 3D Surface Reconstruction of Free-Form Texture-Less Objects. In: Burduk, R., Jackowski, K., Kurzyński, M., Woźniak, M., Żołnierek, A. (eds) Proceedings of the 9th International Conference on Computer Recognition Systems CORES 2015. Advances in Intelligent Systems and Computing, vol 403. Springer, Cham. https://doi.org/10.1007/978-3-319-26227-7_76

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  • DOI: https://doi.org/10.1007/978-3-319-26227-7_76

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-26225-3

  • Online ISBN: 978-3-319-26227-7

  • eBook Packages: EngineeringEngineering (R0)

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