Basic 3D Solid Recognition in RGB-D Images

The paper deals with the problem of recognition of 3D objects for the purpose of their subsequent grasping and manipulation by a two-handed robot. We describe the idea of a general framework for object recognition rooted in the compositional model of the world. This approach threats complex objects as entities constructed of simpler, elementary ones, termed solids. In particular, we focus on recognition of two types of such solids: cuboids and generalized cones. We present details of their operation, starting from the low-level processing of RGB-D images and ending with the generation of hypotheses regarding the presence and parameters of those types of solids.

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