03653nas|a2200433 a 4500 20260817161131.0 091112s2009 th uu|m rtt 0| a1eng d .b12070361 AIT RSPR no.CS-09-04 Hussain, Akhtar 3D reconstruction using dense stereo correspondence Pathum Thani, Thailand : Asian Institute of Technology, 2009 27 p. : ill. Research studies project report ; no. CS-09-04 Submitted in partial fulfillment of the requirements for the degree of Master of Science in Computer Science, School of Engineering and Technology Research Studies Project Report (M.Eng.) - Asian Institute of Technology, 2009 Nowadays, robots can perform many tasks. One of their potential tasks is to bin picking and part placement. Now many industries could use robots to perform bin picking, to saves time and money. To perform the difficult task of picking the objects from a bin, first robot needs to recognize particular objects. For recognition of the objects a 3D model beneficial, for that purpose, people use many methods; some people use CAD software to create 3D models, but this is very costly and time consuming. some people are now using computer vision techniques, which are very cheap compared to human labor and more expensive sensors such as lasers. So in this research study I use stereo vision-based system to reconstruct a 3D model of objects. Stereo vision can help the robot to estimate depth of objects. If correct depth information is known then a 3D model of the object can be reconstructed correctly. There are two kinds of stereo vision methods, useful for reconstructing 3D model of the objects. Here I used dense stereo correspondence which is more accurate and detailed than sparse correspondence methods. I use the dynamic programming method in OpenCV to create disparity map and then extract one object and make depth map of that object. From the depth map I generated a 3D point cloud. After that, in the future work I will apply 2D Delaunay triangulation to create a 3D mesh and visualize the object using OpenGL or any other tool. If the reconstructed 3D model is correct, the robot will recognize the object and grasp it correctly. Three-dimensional imaging Computer vision Robot vision Dailey, Mathew N., Chairperson Afzulpurkar, Nitin V., Examination Committee Sumanta, Guha, Examination Committee Higher Education Commission (HEC), Pakistan-Asian Institute of Technology Fellowship, Scholarship donor Asian Institute of Technology. Research studies project report ; no. CS-09-04 Full-Text http://203.159.5.9/ait-thesis/detail.php?q=B01286 .b12070361 mnait u 240329 0 091112 m a u 0 mnait mnait mnarc 20 40 Barcode : 30050120615629 CREATED : 2009-12-11 RECORD # : i12623465 LPATRON : 1024286 LCHKIN : 2013-11-14 # RENEWALS : 0 # OVERDUE : 0 IUSE3 : 0 TOT CHKOUT : 2 TOT RENEW : 1 Barcode : 30050120615611 CREATED : 2009-12-11 RECORD # : i12623477 LPATRON : 0 LCHKIN : - # RENEWALS : 0 # OVERDUE : 0 IUSE3 : 0 TOT CHKOUT : 0 TOT RENEW : 0 Barcode : 30050120239453 CREATED : 2016-03-31 RECORD # : i12915543 LPATRON : 0 LCHKIN : - # RENEWALS : 0 # OVERDUE : 0 IUSE3 : 0 TOT CHKOUT : 0 TOT RENEW : 0 64 64 0 0 0 0 MAIN MAIN mnait 2026-08-17 50.00 0 AIT RSPR no.CS-09-04 30050120615629 2026-08-17 16:11:31 1 2026-08-17 20 0 0 0 0 MAIN MAIN mnait 2026-08-17 50.00 0 AIT RSPR no.CS-09-04 30050120615611 2026-08-17 16:11:31 2 2026-08-17 20 0 0 0 0 MAIN MAIN mnarc 2026-08-17 0 AIT RSPR no.CS-09-04 30050120239453 2026-08-17 16:11:31 1 2026-08-17 40