Three-dimensional object recognition using a monoscopic camera system and CAD geometry information

摘要

Current research conducted by the Institute for Photogrammetry at the Universitaet Stuttgart aims at the determination of a cylinder head's pose by using a single monochromatic camera. The work is related to the industrial project RoboMAP, where the recognition's result will be used as initiating information for a robot to position other sensors over the cylinder head. For this purpose a commercially available view-based algorithm is applied, which itself needs the object's geometry as a-priori information. We describe the general functionality of the approach and present the results of our latest experiments. The results we achieved show that the accuracy as well as the processing time suite the project's requirements very well, if the image acquisition is prepared properly.