Reconocimiento de Objetos de Forma Libre a Partir de los Datos de Rango de una Vista Parcial Usando Cono Curvaturas Ponderadas

Santiago Salamanca, Antonio Adán, Carlos Cerrada, Miguel Adán, Pilar Merchán, Emiliano Pérez

Resumen

En este trabajo se muestra un método para el reconocimiento de objetos de forma libre a partir de los datos de rango de una vista parcial. Para ello presentamos una nueva característica que denominamos Cono-Curvatura Ponderada (WCC), que mide el ángulo que sustenta cada uno de los nodos de la malla. Debido a que la información empleada no es completa, es necesario reforzar la búsqueda empleando una técnica basada en componentes principales, así como una basada en el algoritmo ICP. Debido a estas dos últimas fases del algoritmo, además del reconocimiento, se soluciona el problema de localización.

Palabras clave

Reconocimiento; posicionamiento; datos de rango; visión 3D

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