<title>Matching 3D segmented objects using wire frame analysis</title>

Abstract

This paper describes a novel technique in 3D sensory fusion for autonomous mobile vehicles. The primary sensor is a monocular camera mounted on a robot manipulator which pans to up to three positions on a 0.5 m vertical circle, whilst mounted on the mobile vehicle. The passive scene is analysed using a method of inverse perspective, which is described and the resulting scene analysis comprises 3D wire frames of all surfaces detected in 3D. The 3D scene analysis uses a dual T-800 transputer based multiprocessor which cycles through generating primary scene information at rates of 1 update per 10 seconds. A PC-based 3D matching algorithm is then used to match the segmented objects to a database of pre-taught 3D wire frames. The matching software is written in Prolog.