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Automated identification of partially exposed metal object |
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| Authors: | Tomohiro Umetani Yasushi Mae Tatsuo Arai Hironori Kumeno Kenji Inoue Tomohito Takubo Hiroshi Niho |
| Affiliation: | aGraduate School of Design and Architecture, Nagoya City University 2-1-10, Kitachikusa, Chikusa, Nagoya, Aichi, 464-0083, Japan bGraduate School of Engineering, University of Fukui Bunkyo 3-9-1, Fukui, Fukui 910-8507, Japan cGraduate School of Engineering Science, Osaka University 1-3 Machikaneyama, Toyonaka, Osaka 560-8531, Japan dPCI/JGC Joint Venture, Shin-Nikkou Building East 9F, 2-10-1 Toranomon, Minato, Tokyo 105-0001, Japan |
| Abstract: | This paper describes a method for automated shape and pose (position and orientation) identification of partially exposed metal objects that enables safe and efficient excavation of hazardous materials. The method estimates the object pose by matching a model of the object with the area that is extracted from the range image using the characteristics of metal objects. The paper introduces a method for an initial search area for object matching in order to obtain the accurate shape and pose of the partially exposed objects with reasonable calculation time. The experimental results show feasibility of the shape and pose identification of partially exposed objects. |
| Keywords: | Automated excavation Range image Pose identification Genetic algorithm Object recognition Abandoned munitions |
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