Picking Up an Object From a Pile of Objects (1983)
by
Katsushi Ikeuchi
,
Berthhold K.P. Horn
,
Shigemi Nagata
,
Tom
,
Tom Callahan
,
Oded Feingold
| Venue: | Proceedings of the First International Symposium on Robotics Research |
| Citations: | 6 - 1 self |
BibTeX
@INPROCEEDINGS{Ikeuchi83pickingup,
author = {Katsushi Ikeuchi and Berthhold K.P. Horn and Shigemi Nagata and Tom and Tom Callahan and Oded Feingold},
title = {Picking Up an Object From a Pile of Objects},
booktitle = {Proceedings of the First International Symposium on Robotics Research},
year = {1983},
pages = {139--166},
publisher = {MIT Press}
}
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Abstract
This paper describes a hand-eye system we developed to perform the binpicking task. Two basic tools are employed: the photometric stereo method and the extended Gaussian image. The photometric stereo method generates the surface normal distribution of a scene. The extended Gaussian image allows us to determine the attitude of the object based on the normal distribution.
