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UBC Theses and Dissertations

Using range data for object recognition in a robotics environment Archibald, Colin


A new approach to object recognition for a robotics environment is presented. 2-D models enriched with 3-D information are constructed automatically from a range image. These 'view models' are used to recognize objects by matching them to models subsequently constructed from similar images. A segmentation method for extraction of planar surfaces from range images has been developed. View models are constructed as augmented surface adjacency graphs. A heuristic model matching method, is presented. Results indicate that object recognition in a constrained domain and environment can be achieved at a very high success rate using singlevview range images.

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