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3D Object Recognition (ARTISAN) This project is no longer active. Heads: Martial Hebert and James Osborn Contact: James Osborn (oz@cmu.edu) Mailing address: Carnegie Mellon University Robotics Institute 5000 Forbes Avenue Pittsburgh, PA 15213 Associated center: VASC Associated lab/group: 3D Computer Vision Group For more information, see this project's homepage.

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Project Description

Artisan is a software package for semi-automatic Task Space Scene Analysis (TSSA) developed to facilitate telerobotic Decontamination and Dismantlement (D&D), particularly selective equipment removal. The principal objective of TSSA is construct a 3-D model of the work zone around a robot so that automatic control techniques, such as trajectory planning, collision avoidance and scripted motion sequences, can be used to speed task execution relative to conventional teleoperation.

Past members

	Name	Title	Email Address
	Vincent Broz	Undergraduate, CS
	Owen Carmichael	Visiting Researcher
	Sachin Chheda	Undergraduate, ECE	chheda@cmu.edu
	Daniel Gindikin	Undergraduate, CS	gindikin@andrew.cmu.edu
	Martial Hebert	Professor	hebert@ri.cmu.edu
	Andrew Johnson	PhD Student, RI
	Herain Oberoi	Technical Staff
	James Osborn	Exec Dir, Quality of Life Tech Eng Cente	oz@cmu.edu
	Scott Thayer	Systems Scientist

Publications

Note: This list may not be comprehensive. It contains only those publications in the RI publications database. Entries are listed in reverse chronological order.

• Using spin images for efficient object recognition in cluttered 3D scenes
  A. Johnson and M. Hebert
  IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. 21, No. 5, May, 1999, pp. 433 - 449. [Abstract]
  Download: pdf [2368 KB] copyrighted

• Efficient multiple model recognition in cluttered 3-D scenes
  A. Johnson and M. Hebert
  Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR '98), June, 1998, pp. 671 - 677. [Abstract]
  Download: pdf [1366 KB] copyrighted

• Spin-Images: A Representation for 3-D Surface Matching
  A. Johnson
  doctoral dissertation, tech. report CMU-RI-TR-97-47, Robotics Institute, Carnegie Mellon University, August, 1997. [Abstract]
  Download: pdf [9347 KB], ps.gz [12233 KB] copyrighted

• A System for Semi-automatic Modeling of Complex Environments
  A. Johnson, R. Hoffman, J. Osborn, and M. Hebert
  International Conference on Recent Advances in 3-D Digital Imaging and Modeling, May, 1997, pp. 213-220. [Abstract]
  Download: pdf [449 KB], ps.gz [558 KB] copyrighted

• Surface Registration by Matching Oriented Points
  A. Johnson and M. Hebert
  International Conference on Recent Advances in 3-D Digital Imaging and Modeling, May, 1997, pp. 121-128. [Abstract]
  Download: pdf [795 KB], ps.gz [1009 KB] copyrighted

• 3-D object modeling and recognition for telerobotic manipulation
  A. Johnson, P. Leger, R. Hoffman, M. Hebert, and J. Osborn
  Proc. IEEE Intelligent Robots and Systems, Vol. 1, August, 1995, pp. 103 - 110. [Abstract]
  Download: pdf [961 KB], ps.gz [1127 KB] copyrighted

• Sensor Based Interior Modeling
  M. Hebert, R. Hoffman, A. Johnson, and J. Osborn
  American Nuclear Society 6th Topical Meeting on Robotics and Remote Systems (ANS '95), February, 1995, pp. 731 - 737.
  Download: pdf [362 KB], ps.gz [541 KB] copyrighted