A Hierarchical Shape Representation for Vision-Guided Robotics

May 1998

Proceedings of the Eleventh International Florida Artificial Intelligence Research Society Conference (FLAIRS 1998)

Volume

Proceedings of the Eleventh International Florida Artificial Intelligence Research Society Conference (FLAIRS 1998)

All Papers

Using an adequate representation is often the key to solve complex problems in Artificial Intelligence. Hierarchical shape representations are very convenient in domains -such as vision-based robotics- that require a trade-off between efficiency and accuracy. In this paper, we present new techniques and results concerning a hierarchical shape representation based only on spheres. We focus on the global aspects of the model that are relevant to AI applications and present a summary of its main features and the employed procedures. Since the underlying object model is the generalized cylinder, the representation lends easily itself to its utilization in conjunction with a vision system.