Configuration Understanding: Analyzing The Contents Of A Pile

Prasanna G. Mulgaonkar; Jeff DeCurtins; Cregg K. Cowan

doi:10.1117/12.969316

21 March 1989 Configuration Understanding: Analyzing The Contents Of A Pile

Prasanna G. Mulgaonkar, Jeff DeCurtins, Cregg K. Cowan

Proceedings Volume 1095, Applications of Artificial Intelligence VII; (1989) https://doi.org/10.1117/12.969316
Event: SPIE 1989 Technical Symposium on Aerospace Sensing, 1989, Orlando, FL, United States

Abstract

A technique for analyzing dense range images of a pile of simple but unknown objects is discussed. The technique analyzes the configuration of objects in the pile and uses concepts such as stability, viewpoint independence, and object solidity to hypothesize the shapes and sizes of the objects. These hypotheses are analyzed using the known geometry of the range sensor to rule out the inconsistent configurations. The final result of the analysis is one or more descriptions of the 3-D scene, each of which is consistent with i he sensed data, and with the constraints imposed by the physics of objects in contact.

Citation Download Citation

Prasanna G. Mulgaonkar, Jeff DeCurtins, and Cregg K. Cowan "Configuration Understanding: Analyzing The Contents Of A Pile", Proc. SPIE 1095, Applications of Artificial Intelligence VII, (21 March 1989); https://doi.org/10.1117/12.969316

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