MORAL-a Vision-Based object recognition system for autonomous mobile systems

Stefan Lanser, Christoph Zierl, Olaf Munkelt, Bernd Radig

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

5 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publicationComputer Analysis of Images and Patterns - 7th International Conference, CAIP 1997, Proceedings
EditorsGerald Sommer, Kostas Daniilidis, Josef Pauli
PublisherSpringer Verlag
Pages33-41
Number of pages9
ISBN (Print)3540634606, 9783540634607
DOIs
StatePublished - 1997
Event7th International Conference on Computer Analysis of Images and Patterns, CAIP 1997 - Kiel, Germany
Duration: 10 Sep 199712 Sep 1997

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume1296
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference7th International Conference on Computer Analysis of Images and Patterns, CAIP 1997
Country/TerritoryGermany
CityKiel
Period10/09/9712/09/97

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