Pose Estimation of a Depth Camera Using Plane Features

We present a novel method for pose estimation of a depth camera through plane features. Since conventional features for color images, mainly points and lines, are not applicable to a depth image, we propose a new type of feature utilizing planar structures in a scene. To measure the accuracy of our method, we generated a synthetic scene and calculated a position error between an estimated location and its ground truth. We also applied our method to the real world scene captured by a depth camera verifying practical usage.