HYPER: a new approach for the recognition and positioning of 2D objects

Nicholas Ayache (1) , Olivier Faugeras (1)

1 ROBOTVIS - Computer Vision and Robotics

A new method has been designed to identify and locate objects lying on a flat surface. The merit of the approach is to provide strong robustness to partial occlusions (due for instance to uneven lighting conditions, shadows, highlights, touching and overlapping objects) thanks to a local and compact description of the objects boundaries and to a new fast recognition method involving generation and recursive evaluation of hypotheses named HYPER (HYpotheses Predicted and Evaluated Recursively). The method has been integrated within a vision system coupled to an indutrial robot arm, to provide automatk picking and repositioning of partially overlapping industrial parts.

Mots clés: shape recognition; Computer vision; occlusions; robotics; scene analysis; shape recognition.

Domaines: Imagerie médicale; Modélisation et simulation; Imagerie; Traitement du signal et de l'image [eess.SP]; Traitement du signal et de l'image [eess.SP]

Nicholas Ayache, Olivier Faugeras. HYPER: a new approach for the recognition and positioning of 2D objects. IEEE Transactions on Pattern Analysis and Machine Intelligence, 1986, 8 (1), pp.44-54. ⟨10.1109/TPAMI.1986.4767751⟩. ⟨inria-00615534⟩