{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,13]],"date-time":"2025-10-13T08:59:24Z","timestamp":1760345964581,"version":"3.33.0"},"reference-count":51,"publisher":"SAGE Publications","issue":"4","license":[{"start":{"date-parts":[[1989,8,1]],"date-time":"1989-08-01T00:00:00Z","timestamp":617932800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[1989,8]]},"abstract":"<jats:p> The components of the Sheffield Artificial Intelligence Vision Research Unit (AIVRU) three-dimensional (3D) vision sys tem, which currently supports model-based object recognition and location, are described. Its potential for robotics applica tions is demonstrated by its guidance of a Universal Machine Intelligence robot arm in a pick-and-place task. The system comprises (1) the recovery of a sparse depth map using edge- based, passive stereo triangulation; (2) the grouping, descrip tion, and segmentation of edge segments to recover a 3D representation of the scene geometry in terms of straight lines and circular arcs; (3) the statistical combination of 3D de scriptions for object model creation from multiple stereo views and the propagation of constraints for within-view re finement ; and (4) the matching of 3D wireframe object models to 3D scene descriptions in order to recover an initial estimate of their position and orientation. <\/jats:p>","DOI":"10.1177\/027836498900800401","type":"journal-article","created":{"date-parts":[[2007,3,5]],"date-time":"2007-03-05T01:24:06Z","timestamp":1173057846000},"page":"3-32","source":"Crossref","is-referenced-by-count":21,"title":["Geometrical Modeling from Multiple Stereo Views"],"prefix":"10.1177","volume":"8","author":[{"given":"S.B.","family":"Pollard","sequence":"first","affiliation":[{"name":"Artificial Intelligence Vision Research Unit Sheffield University Western Bank Sheffield S10 2TN, England"}]},{"given":"T.P.","family":"Pridmore","sequence":"additional","affiliation":[{"name":"Artificial Intelligence Vision Research Unit Sheffield University Western Bank Sheffield S10 2TN, England"}]},{"given":"J.","family":"Porrill","sequence":"additional","affiliation":[{"name":"Artificial Intelligence Vision Research Unit Sheffield University Western Bank Sheffield S10 2TN, England"}]},{"given":"J.E.W.","family":"Mayhew","sequence":"additional","affiliation":[{"name":"Artificial Intelligence Vision Research Unit Sheffield University Western Bank Sheffield S10 2TN, England"}]},{"given":"J.P.","family":"Frisby","sequence":"additional","affiliation":[{"name":"Artificial Intelligence Vision Research Unit Sheffield University Western Bank Sheffield S10 2TN, England"}]}],"member":"179","published-online":{"date-parts":[[1989,8,1]]},"reference":[{"volume-title":"The design and analysis of computer algorithms","year":"1974","author":"Aho, A.V.","key":"atypb1"},{"volume-title":"Regression and the Moore-Penrose pseudo-inverse","year":"1972","author":"Albert, A.","key":"atypb2"},{"volume-title":"The curvature primal sketch. 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