Issue No. 01 - January (1986 vol. 8)
Nicholas Ayache , Computer Vision and Robotics Group, INRIA, 78153 Le Chesnay Cedex, France.
Olivier D. Faugeras , Computer Vision and Robotics Group, INRIA, 78153 Le Chesnay Cedex, France.
A new method has been designed to identify and locate objects lying on a flat surface. The merit of the approach is to provide strong robustness to partial occlusions (due for instance to uneven lighting conditions, shadows, highlights, touching and overlapping objects) thanks to a local and compact description of the objects boundaries and to a new fast recognition method involving generation and recursive evaluation of hypotheses named HYPER (HY potheses Predicted and Evaluated Recursively). The method has been integrated within a vision system coupled to an indutrial robot arm, to provide automatic picking and repositioning of partially overlapping industrial parts.
N. Ayache and O. D. Faugeras, "HYPER: A New Approach for the Recognition and Positioning of Two-Dimensional Objects," in IEEE Transactions on Pattern Analysis & Machine Intelligence, vol. 8, no. , pp. 44-54, 1986.