{"type":"ScholarlyArticle","title":"Locating Polyhedral Objects from Edge Point Data","authors":[{"name":"Gary Silverman","slug":"gary-silverman","given":"Gary","family":"Silverman","affiliation":"IBM Scientific Center , Los Angeles , CA 90025"},{"name":"Roger Y. Tsai","slug":"roger-y-tsai","given":"Roger Y.","family":"Tsai","affiliation":"IBM T. J. Watson Research Center , Yorktown Heights , NY 10598"},{"name":"Mark Lavin","slug":"mark-lavin","given":"Mark","family":"Lavin","affiliation":"IBM T. J. Watson Research Center , Yorktown Heights , NY 10598"}],"abstract":"A method is presented to locate a general polyhedron in space with six degrees of freedom . A light stripe sensor is assumed to be capable of providing three-dimensional data points on known edges of the polyhedron to within a known accuracy. A representation is found for all the ways three line segments of fixed length can fall between the edges of a polyhedron. This representation, called an edge interval, is used in a tree search to find the location of each data point to within an interval on the edge. The final location of the object is determined by a onedimensional line search. The method is illustrated with simulated data from a unit tetrahedron and results from a computer implementation are presented. The tree search takes a negligible amount of time and the onedimensional line search takes a small additional increment.","doi":null,"url":"https://ijcai.org/proceedings/1987/232","pdf":"https://ijcai.org/proceedings/1987/0232.pdf","markdown":"https://ijcai.org/proceedings/1987/232.md","bibtex":"https://ijcai.org/proceedings/1987/bibtex/232","volume":{"slug":"1987","title":"Proceedings of the Tenth International Joint Conference on Artificial Intelligence","short_title":"IJCAI 1987","url":"https://ijcai.org/proceedings/1987/","year":1987,"location":"Milan, Italy","dates":"","editors":"John McDermott","isbn":"","publisher":"International Joint Conferences on Artificial Intelligence","doi_prefix":""},"section":"Robotics","track":"Robotics","number":232,"pages":{"first":1149,"last":1151},"keywords":[],"videos":[],"references":[{"position":1,"raw":"I. Arbab. B. \"Object Identification by Parallel Light Stripes.\" In Proc. IJCAI-87. Milano, Italy, August 1987.","title":"Object Identification by Parallel Light Stripes","authors":"I B Arbab","year":"1987","venue":"Proc. IJCAI-87","doi":null,"url":null,"internal_url":null},{"position":2,"raw":"Bolles R.C. and P. Horaud, \"3DPO: A Three- Dimensional Part Orientation System.\" The Interna- tional Journal of Robotics Research, 5:3 (1986) 3-26.","title":"3DPO: A Three-Dimensional Part Orientation System","authors":"R C Bolles, P Horaud","year":"1986","venue":"The International Journal of Robotics Research","doi":null,"url":null,"internal_url":"/proceedings/1983/259"},{"position":3,"raw":"Gordon, S.J. and W.P. Seering, \"Locating Polyhedral Features from Sparse Light Stripe Data.\" In Proc. IEEE International Conference on Robotics and Au- tomation, Raleigh, NC, April, 1987, pp. 801-806.","title":"Locating Polyhedral Features from Sparse Light Stripe Data","authors":"S J Gordon, W P Seering","year":"1987","venue":"Proc. IEEE International Conference on Robotics and Automation","doi":null,"url":null,"internal_url":null},{"position":4,"raw":"Grimson, W.E.L. and T. Lozano-Perez, \"Model- Based Recognition and Localization from Sparse Range or Tactile Data.\" The International Journal of Robotics Research, 3:3 (1984) 3-35.","title":"Model-Based Recognition and Localization from Sparse Range or Tactile Data","authors":"W E L Grimson, T Lozano-Perez","year":"1984","venue":"The International Journal of Robotics Research","doi":null,"url":null,"internal_url":null},{"position":5,"raw":"Silverman, G. J., R. Tsai and M. Lavin, \"Locating Polyhedral Objects from Edge Point Data,\" LASC Report, IBM Scientific Center, 11601 Wilshire Blvd., Los Angeles, CA, 90025 August 1987.","title":"Locating Polyhedral Objects from Edge Point Data","authors":"G J Silverman, R Tsai, M Lavin","year":"1987","venue":null,"doi":null,"url":null,"internal_url":null},{"position":6,"raw":"Tsai, R.Y. 1985 \"A Versatile Camera Calibration Technique for High Accuracy 3-D Machine Vision Metrology using off-the-shelf TV Cameras and Lenses,\" IBM T.J. Watson Research Report RC 11413, Yorktown Heights, NY, September 1985.","title":"A Versatile Camera Calibration Technique for High Accuracy 3-D Machine Vision Metrology using off-the-shelf TV Cameras and Lenses","authors":"R Y Tsai","year":"1985","venue":null,"doi":null,"url":null,"internal_url":null}],"license_note":"Copyright International Joint Conferences on Artificial Intelligence."}