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Automatic configuration of an object detection system

: Stotz, Martin; Verl, Alexander

Informationstechnische Gesellschaft -ITG-, Information Technology Society of VDE; Verband Deutscher Maschinen- und Anlagenbau e.V. -VDMA-, Fachverband Robotik und Automation, Frankfurt/Main; International Federation of Robotics; Deutsche Gesellschaft für Robotik -DGR-:
ISR/ROBOTIK 2010, Proceedings for the joint conference of ISR 2010, 41st International Symposium on Robotics und ROBOTIK 2010, 6th German Conference on Robotics : 7-9 June 2010 - Parallel to AUTOMATICA
Berlin: VDE-Verlag, 2010
ISBN: 978-3-8007-3273-9
International Symposium on Robotics (ISR) <41, 2010, Munich>
German Conference on Robotics (ROBOTIK) <6, 2010, Munich>
Internationale Fachmesse für Automation und Mechatronik (Automatica) <4, 2010, Munich>
Conference Paper
Fraunhofer IPA ()
evolutionary algorithms; Evolutionärer Algorithmus; preprocessing; Bildverarbeitung; Objekterkennung; Algorithmus

A novel configuration method for pre-processing steps required to segment range image data previous to object recognition by geometric primitives is presented in this paper. Pre-processing in this context denotes steps of smoothing, segmenting and sorting the image into meaningful regions. The resulting regions serve as input for the following detection of the pose of freely tangible parts. The generation and configuration of the pre-processing steps, which are subsumed as preprocessing strategy, is done using an evolutionary optimization method using 3D results to evaluate the quality of the results of the 2D image processing based pre-processing strategy. The pre-processing is build up fully automatic without user interaction and leads to real-world applicable solutions.