Recognizing surfaces using curve invariants and differential properties of curves and surfaces

Daniel Keren; Ehud Rivlin; Ilan Shimshoni; Isaac Weiss

doi:10.1109/ROBOT.1998.680959

Recognizing surfaces using curve invariants and differential properties of curves and surfaces

Daniel Keren, Ehud Rivlin, Ilan Shimshoni, Isaac Weiss

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

A general paradigm for recognizing 3D objects is offered, and applied to some geometric primitives (spheres, cylinders, cones, and tori). The assumption is that a curve on the surface was measured with high accuracy (for instance, by a sensory robot). Differential invariants of the curve in one method and differential properties of curves and surfaces in the other are then used to recognize the surface. The motivation is twofold: The output of some devices is not surface range data, but such curves. So, surface invariants, which may be simpler in some cases, cannot always be obtained. Also, a considerable speedup is obtained by using curve data, as opposed to surface data which usually contains a much higher number of points.

Original language	English
Title of host publication	Proceedings - IEEE International Conference on Robotics and Automation
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	3375-3381
Number of pages	7
ISBN (Print)	078034300X
DOIs	https://doi.org/10.1109/ROBOT.1998.680959
State	Published - 1998
Event	15th IEEE International Conference on Robotics and Automation, ICRA 1998 - Leuven, Belgium Duration: 16 May 1998 → 20 May 1998

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Volume	4
ISSN (Print)	1050-4729

Conference

Conference	15th IEEE International Conference on Robotics and Automation, ICRA 1998
Country/Territory	Belgium
City	Leuven
Period	16/05/98 → 20/05/98

Bibliographical note

Publisher Copyright:
© 1998 IEEE.

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Access to Document

10.1109/ROBOT.1998.680959

Cite this

Keren, D., Rivlin, E., Shimshoni, I., & Weiss, I. (1998). Recognizing surfaces using curve invariants and differential properties of curves and surfaces. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 3375-3381). Article 680959 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 4). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBOT.1998.680959

Keren, Daniel ; Rivlin, Ehud ; Shimshoni, Ilan et al. / Recognizing surfaces using curve invariants and differential properties of curves and surfaces. Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 1998. pp. 3375-3381 (Proceedings - IEEE International Conference on Robotics and Automation).

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abstract = "A general paradigm for recognizing 3D objects is offered, and applied to some geometric primitives (spheres, cylinders, cones, and tori). The assumption is that a curve on the surface was measured with high accuracy (for instance, by a sensory robot). Differential invariants of the curve in one method and differential properties of curves and surfaces in the other are then used to recognize the surface. The motivation is twofold: The output of some devices is not surface range data, but such curves. So, surface invariants, which may be simpler in some cases, cannot always be obtained. Also, a considerable speedup is obtained by using curve data, as opposed to surface data which usually contains a much higher number of points.",

author = "Daniel Keren and Ehud Rivlin and Ilan Shimshoni and Isaac Weiss",

note = "Publisher Copyright: {\textcopyright} 1998 IEEE.; 15th IEEE International Conference on Robotics and Automation, ICRA 1998 ; Conference date: 16-05-1998 Through 20-05-1998",

year = "1998",

doi = "10.1109/ROBOT.1998.680959",

language = "English",

isbn = "078034300X",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

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Keren, D, Rivlin, E, Shimshoni, I & Weiss, I 1998, Recognizing surfaces using curve invariants and differential properties of curves and surfaces. in Proceedings - IEEE International Conference on Robotics and Automation., 680959, Proceedings - IEEE International Conference on Robotics and Automation, vol. 4, Institute of Electrical and Electronics Engineers Inc., pp. 3375-3381, 15th IEEE International Conference on Robotics and Automation, ICRA 1998, Leuven, Belgium, 16/05/98. https://doi.org/10.1109/ROBOT.1998.680959

Recognizing surfaces using curve invariants and differential properties of curves and surfaces. / Keren, Daniel; Rivlin, Ehud; Shimshoni, Ilan et al.
Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 1998. p. 3375-3381 680959 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 4).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - A general paradigm for recognizing 3D objects is offered, and applied to some geometric primitives (spheres, cylinders, cones, and tori). The assumption is that a curve on the surface was measured with high accuracy (for instance, by a sensory robot). Differential invariants of the curve in one method and differential properties of curves and surfaces in the other are then used to recognize the surface. The motivation is twofold: The output of some devices is not surface range data, but such curves. So, surface invariants, which may be simpler in some cases, cannot always be obtained. Also, a considerable speedup is obtained by using curve data, as opposed to surface data which usually contains a much higher number of points.

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M3 - Conference contribution

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Keren D, Rivlin E, Shimshoni I, Weiss I. Recognizing surfaces using curve invariants and differential properties of curves and surfaces. In Proceedings - IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc. 1998. p. 3375-3381. 680959. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ROBOT.1998.680959

Recognizing surfaces using curve invariants and differential properties of curves and surfaces

Abstract

Publication series

Conference

Bibliographical note

ASJC Scopus subject areas

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