TY  - THES
AU  - Antonio Esteban Lansaque
PY  - 2014//
TI  - 3D reconstruction and recognition using structured ligth
N2  - This work covers the problem of 3D reconstruction, recognition and 6DOF pose estimation. The goal of this project is to reconstruct a 3D scene and to align an object model of the industrial pieces onto the reconstructed scene. The reconstruction algorithm is based on stereo techniques and the recognition algorithm is based on SHOT descriptors computed on a set of uniform keypoints. Correspondences are used to estimate a first 6DOF transformation that maps the model onto the scene and then ICP algorithm is used to refine the transformation. In order to check the effectiveness of the proposed algorithm, several experiments were performed. These experiments were conducted on a lab environment in order to get results under the same conditions in all of them. Although obtained results are not real time results, the proposed algorithm ends up with high rates of object recognition.
N1  - IAM; 600.075
ID  - Antonio Esteban Lansaque2014
U1  - Masters thesis
ER  -