Development of a Mark-based 3D Vision System

摘要

In this paper, we propose a method for the practical robot vision based on an approach referred to as “mark-based”. So far we developed 2D mark-based vision in which a mark is attached to every object in the environment to make object recognition simple and straightforward. In this method, object shape recognition is replaced with simpler mark recognition, and objects under planar motion are recognized in real-time. In order to get 3D information of objects, we developed 3D mark-based vision. To generalize the method to 3D environment, a combination of 3 marks and a barcode is introduced. A system of 3D mark-based vision is implemented and experimental results show the usefulness of the proposed method.