Computer Vision and Robotics Group, INRIA, 78153 Le Chesnay Cedex, France.
IEEE Trans Pattern Anal Mach Intell. 1986 Jan;8(1):44-54. doi: 10.1109/tpami.1986.4767751.
A new method has been designed to identify and locate objects lying on a flat surface. The merit of the approach is to provide strong robustness to partial occlusions (due for instance to uneven lighting conditions, shadows, highlights, touching and overlapping objects) thanks to a local and compact description of the objects boundaries and to a new fast recognition method involving generation and recursive evaluation of hypotheses named HYPER (HY potheses Predicted and Evaluated Recursively). The method has been integrated within a vision system coupled to an indutrial robot arm, to provide automatic picking and repositioning of partially overlapping industrial parts.
一种新的方法已经被设计出来以识别和定位躺在一个平面上的物体。该方法的优点是通过对物体边界的局部和紧凑描述以及一种新的快速识别方法（称为 HYPER，即递归预测和评估假设），提供了对部分遮挡（例如由于不均匀的照明条件、阴影、高光、接触和重叠物体）的强大鲁棒性。该方法已集成到一个与工业机器人臂相连的视觉系统中，以提供部分重叠的工业部件的自动拾取和重新定位。
