Algorithm for representation of objects to enable robotic recongnition
First Claim
1. An algorithm for the efficient representation of complex three-dimensional objects, said algorithm aiding in the robotic recognition of objects and comprising the steps of:
- a. the generation of superquadric volume primitives;
b. converting said superquadric volume primitives into voxels in a voxel space;
c. combining said voxels at the direction of a user of the algorithm to obtain a volumetric representation of a particular three-dimensional object;
d. discarding all voxels except for the surface voxels included in said volumetric representation of said particular three-dimensional object; and
e. automatically generating from the list of said surface voxels a Winged Edge graph structure, said Winged Edge graph structure comprising edges and faces automatically generated by said algorithm from said list of said surface voxels, said Winged Edge graph structure representing said particular three-dimensional object in a computer;
said particular three-dimensional object not being defined by said Winged Edge graph structure until the termination of said algorithm.
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Abstract
An algorithm for representing complex three-dimensional objects in a computer for the purpose of robotic recognition of such objects comprises the generation of superquadric volume primitives, the combination of such superquadric volume primitives, the discarding of all vertices making up such volume primitives except for surface vertices, and the automatic generation of a Winged Edge graph structure from the list of surface vertices. The size of the Winged Edge graph structure is reduced by joining adjacent, coplanar faces, removing the common edge of such faces, and joining unidirectional, collinear edges resulting from any joining of adjacent, coplanar faces.
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Citations
14 Claims
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1. An algorithm for the efficient representation of complex three-dimensional objects, said algorithm aiding in the robotic recognition of objects and comprising the steps of:
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a. the generation of superquadric volume primitives; b. converting said superquadric volume primitives into voxels in a voxel space; c. combining said voxels at the direction of a user of the algorithm to obtain a volumetric representation of a particular three-dimensional object; d. discarding all voxels except for the surface voxels included in said volumetric representation of said particular three-dimensional object; and e. automatically generating from the list of said surface voxels a Winged Edge graph structure, said Winged Edge graph structure comprising edges and faces automatically generated by said algorithm from said list of said surface voxels, said Winged Edge graph structure representing said particular three-dimensional object in a computer; said particular three-dimensional object not being defined by said Winged Edge graph structure until the termination of said algorithm. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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Specification