Article information
Resumen
En este trabajo se muestra un método para el reconocimiento de objetos de forma libre a partir de los datos de rango de una vista parcial. Para ello presentamos una nueva característica que denominamos Cono-Curvatura Ponderada (WCC), que mide el ángulo que sustenta cada uno de los nodos de la malla. Debido a que la información empleada no es completa, es necesario reforzar la búsqueda empleando una técnica basada en componentes principales, así como una basada en el algoritmo ICP. Debido a estas dos últimas fases del algoritmo, además del reconocimiento, se soluciona el problema de localización.
Palabras clave:
Reconocimiento
posicionamiento
datos de rango
visión 3D
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Este trabajo se ha desarrollado gracias a la financiación del Ministerio de Educación y Ciencia, a través de los proyectos de la CICYT DPI2005-03769 y DPI2006-14794-C02.
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