Abstract
This paper describes an object detection method. Depth images obtained from 3D range camera are used, object detection with classification into three types are performed. We focus on image region where measurement data does not obtained, and analyze the reason how such region is produced. It enables us to reduce uncertain region of an input depth image and to provide information for viewpoint changing to obtain more advanced object information. We implemented an application to classify above three types of objects. Non-transparent objects and partly-transparent objects were classified from a single depth image, and multi-view measurements were used to reduce uncertainty data and to narrow down the existing area of transparent objects.
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