Refinding objects using model-based knowledge

The process of automatically finding objects is very important for tracking and grasping objects using computer vision. Object finding is on the one hand a very time consuming process and on the other hand very sensitive to varying environmental conditions. Hence initialization is often performed manually. This work presents a method that operates automatically, threshold-free, and uses only model based information. Region based attributes such as color or texture axe used in combination with a multi-spectral classification method to build a gray scale image, where regions with a high likelihood for the object searched are bright and the other parts axe dark. To adapt to the ambient lighting situation a color measurement and a full matrix color transform are proposed and evaluated. First test runs show that this approach is fast and robust and enables the successful and automatic object finding.