Kamerabasierte Identifizierung und Lokalisierung von Gegenständen für flexible Roboter


This thesis presents a camera-based identification and localization of objects. In this regard, a unique 3d surface reconstruction is performed for each object, in which object-specific features are assigned to each surface point. The reconstruction is based on different perspective camera views. In these images, features are extracted which can be reliably detected in other views. This allows finding of feature correspondences between images, thereby enabling the 3d reconstruction. The so-called 3d feature model (surface points + features) is used to identify an object in an arbitrary image and to determine its spatial position and orientation. Furthermore, an articulated robot performs mobilization activities. With the known spatial pose, gripping and moving operations can be performed on objects.