TINA: The Sheffeild AIVRU Vision System

Porrill, John; Pollard, Stephen; Pridmore, Tony P.; Bowen, Jonathan B.; Mayhew, John E. W.; Frisby, John P.

TINA: The Sheffeild AIVRU Vision System

John Porrill, Stephen Pollard, Tony P. Pridmore, Jonathan B. Bowen, John E. W. Mayhew, John P. Frisby

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Proceedings of the Tenth International Joint Conference on Artificial Intelligence. Robotics. Pages 1138-1143.

Abstract

We describe the Sheffield AIVRU 3D vision system for robotics. The system currently supports model based object recognition and location; its potential for robotics applications is demonstrated by its guidance of a UMI robot arm in a pick and place task. The system comprises: / 1) The recovery of a sparse depth map using edge based passive stereo triangulation. 2) The grouping, description and segmentation of edge segments to recover a 3D description of the scene geometry in terms of straight lines and circular arcs. 3) The statistical combination of 3D descriptions for the purpose of object model creation from multiple stereo views, and the propagation of constraints for within view refinement. 4) The matching of 3D wireframe models to 3D scene descriptions, to recover an initial estimate of their position and orientation.

John Porrill, Stephen Pollard, Tony P. Pridmore, Jonathan B. Bowen, John E. W. Mayhew, and John P. Frisby. 1987. TINA: The Sheffeild AIVRU Vision System. In Proceedings of the Tenth International Joint Conference on Artificial Intelligence, IJCAI-87. IJCAI, 1138–1143. https://ijcai.org/proceedings/1987/230

@inproceedings{ijcai1987p230,
  title     = {TINA: The Sheffeild AIVRU Vision System},
  author    = {Porrill, John and Pollard, Stephen and Pridmore, Tony P. and Bowen, Jonathan B. and Mayhew, John E. W. and Frisby, John P.},
  booktitle = {Proceedings of the Tenth International Joint Conference on
               Artificial Intelligence, {IJCAI-87}},
  publisher = {International Joint Conferences on Artificial Intelligence},
  editor    = {John McDermott},
  pages     = {1138--1143},
  year      = {1987},
  note      = {Robotics},
  url       = {https://ijcai.org/proceedings/1987/230},
}

TY  - CPAPER
TI  - TINA: The Sheffeild AIVRU Vision System
AU  - Porrill, John
AU  - Pollard, Stephen
AU  - Pridmore, Tony P.
AU  - Bowen, Jonathan B.
AU  - Mayhew, John E. W.
AU  - Frisby, John P.
T2  - Proceedings of the Tenth International Joint Conference on Artificial Intelligence, IJCAI-87
PB  - International Joint Conferences on Artificial Intelligence
PY  - 1987
SP  - 1138
EP  - 1143
UR  - https://ijcai.org/proceedings/1987/230
ER  -