Feature spacing trajectory representation and processing for active vision

David P. Casasent; Michael A. Sipe

doi:10.1117/12.256297

29 October 1996 Feature spacing trajectory representation and processing for active vision

David P. Casasent, Michael A. Sipe

Proceedings Volume 2904, Intelligent Robots and Computer Vision XV: Algorithms, Techniques,Active Vision, and Materials Handling; (1996) https://doi.org/10.1117/12.256297
Event: Photonics East '96, 1996, Boston, MA, United States

Abstract

A new feature space trajectory (FST) description of 3D distorted views of an object is advanced for active vision applications. In an FST, different distorted object views are vertices in feature space. A new eigen-feature space and Fourier transform features are used. Vertices for different adjacent distorted views are connected by straight lines so that an FST is created as the viewpoint changes. Each different object is represented by a distinct FST. An object to be recognized is represented as a point in feature space; the closest FST denotes the class of the object, and the closest line segment on the FST indicates its pose. A new neural network is used to efficiently calculate distances. We discuss its uses in active vision. Apart from an initial estimate of object class and pose, the FST processor can specify where to move the sensor to: confirm class and pose, to grasp the object, or to focus on a specific object part for assembly or inspection. We advance initial remarks on the number of aspect views needed and which aspect views are needed to represent an object. We note the superiority of our eigenspace for discrimination, how it can provide shift invariance, and how the FST overcomes problems associated with other classifiers.

Citation Download Citation

David P. Casasent and Michael A. Sipe "Feature spacing trajectory representation and processing for active vision", Proc. SPIE 2904, Intelligent Robots and Computer Vision XV: Algorithms, Techniques,Active Vision, and Materials Handling, (29 October 1996); https://doi.org/10.1117/12.256297

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