TY - GEN
T1 - MORAL-a Vision-Based object recognition system for autonomous mobile systems
AU - Lanser, Stefan
AU - Zierl, Christoph
AU - Munkelt, Olaf
AU - Radig, Bernd
N1 - Publisher Copyright:
© Springer-Verlag Berlin Heidelberg 1997.
PY - 1997
Y1 - 1997
N2 - One of the fundamental requirements for an autonomous mobile system (AMS) is the ability to navigate within an à priori known environment and to recognize task-specific objects, i.e., to identify these objects and to compute their 3D pose relative to the AMS. For the accomplishment of these tasks the AMS has to survey its environment by using appropriate sensors. This contribution presents the vision-based 3D object recognition system MORAL1, which performs a model-based interpretation of single video images of a CCD camera. Using appropriate parameters, the system can be adapted dynamically to different tasks. The communication with the AMS is realized transparently using remote procedure calls. As a whole this architecture enables a high level of flexibility with regard to the used hardware (computer, camera) as well as to the objects to be recognized.
AB - One of the fundamental requirements for an autonomous mobile system (AMS) is the ability to navigate within an à priori known environment and to recognize task-specific objects, i.e., to identify these objects and to compute their 3D pose relative to the AMS. For the accomplishment of these tasks the AMS has to survey its environment by using appropriate sensors. This contribution presents the vision-based 3D object recognition system MORAL1, which performs a model-based interpretation of single video images of a CCD camera. Using appropriate parameters, the system can be adapted dynamically to different tasks. The communication with the AMS is realized transparently using remote procedure calls. As a whole this architecture enables a high level of flexibility with regard to the used hardware (computer, camera) as well as to the objects to be recognized.
UR - http://www.scopus.com/inward/record.url?scp=27244433136&partnerID=8YFLogxK
U2 - 10.1007/3-540-63460-6_97
DO - 10.1007/3-540-63460-6_97
M3 - Conference contribution
AN - SCOPUS:27244433136
SN - 3540634606
SN - 9783540634607
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 33
EP - 41
BT - Computer Analysis of Images and Patterns - 7th International Conference, CAIP 1997, Proceedings
A2 - Sommer, Gerald
A2 - Daniilidis, Kostas
A2 - Pauli, Josef
PB - Springer Verlag
T2 - 7th International Conference on Computer Analysis of Images and Patterns, CAIP 1997
Y2 - 10 September 1997 through 12 September 1997
ER -