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三维物体识别及姿态测定的推理系统
引用本文:王建刚 姚筱亦. 三维物体识别及姿态测定的推理系统[J]. 机器人, 1994, 16(2): 104-113
作者姓名:王建刚 姚筱亦
作者单位:中国科学院沈阳自动化研究所,中国科学院机器人学开放研究实验室
摘    要:本文介绍了三维物体识别及姿态测定的一种新技术,从物体空间域模型出发,通过约束推理及几何推理,在物体三维信息部分给定的条件下,推断预测图象模型,并通过实测的图象数据反馈,推断出隐含在图象中未给定的三维信息,最终实现三维物体识别及姿态测定。整个系统在VICOM机上用C语言完成。

关 键 词:图象域模型 三维物体 识别

A REASONING SYSTEM FOR RECOGNIZING 3-D OBJECTS AND MEASURING ITS ATTITUDE
WANG Jiangang, YAO Xiaoyi. A REASONING SYSTEM FOR RECOGNIZING 3-D OBJECTS AND MEASURING ITS ATTITUDE[J]. Robot, 1994, 16(2): 104-113
Authors:WANG Jiangang   YAO Xiaoyi
Affiliation:Shenyang Institute of Automation; Robot Laboratory Chinese Academy of Sciences
Abstract:A new method for recognizing 3-D objects and measuring its attitude is introduced in this pa-per. The spatial models of 3-D objects are used in the technique. The artificial intelligence techniques in-cluded in the approach, such as constraint manipulation and geometric reasoning, can deduce and predicateimage models when only the partial 3-D information of object are known. Through the measurement of theimage features back constraints can be set up, by which the 3-D information implied in the image can be in-ferred and eventually it is realized to recognize the 3-D objects and to measure its attitude. The system isbuilt in C programming language on VICOM image processing system. The satisfactory experiment resultsare enclosed.
Keywords:Constraint manipulation   geometric reasoning   predicate features   back constraint   spatial models   image models  
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