3D object recognition using spin-images for a humanoid stereoscopic vision system

Olivier Stasse (1) , Sylvain Dupitier (1) , Kazuhito Yokoi (1)

1 JRL - Joint Japanese-French Robotics Research Laboratory [Japon]

— This paper presents a 3D object recognition method based on spin-images for a humanoid robot having a stereoscopic vision system. Spin-images have been proposed to search CAD models database, and use 3D range informations. In this context, the use of a vision system is taken into account through a multi-resolution approach. A method for quickly computing multi-resolution and interpolating spin-images is proposed. The results on simulation and on real data are given, and show the effectiveness of this method.

Mots clés: Index Terms— Spin-images; multi-resolution; 3D recogni-tion; humanoid robot

Domaines: Robotique [cs.RO]

Olivier Stasse, Sylvain Dupitier, Kazuhito Yokoi. 3D object recognition using spin-images for a humanoid stereoscopic vision system. IEEE/RSJ International Conferenece on Intelligent Robots and Systems (IROS), Oct 2006, Beijing, China. pp.2955 - 2960, ⟨10.1109/IROS.2006.282151⟩. ⟨hal-01117854⟩