Object recognition and pose estimation from 3D-geometric relations

被引：0

作者：

Hillenbrand, U ^{[1
]}

Hirzinger, G ^{[1
]}

机构：

[1] German Aerosp Ctr DLR, Inst Robot & Mechatron, D-82230 Wessling, Germany

来源：

KES'2000: FOURTH INTERNATIONAL CONFERENCE ON KNOWLEDGE-BASED INTELLIGENT ENGINEERING SYSTEMS & ALLIED TECHNOLOGIES, VOLS 1 AND 2, PROCEEDINGS | 2000年

关键词：

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

We present a method for object recognition and pose estimation from noisy range data as provided by stereo processing. From the range data, points of high surface curvature are estimated. By comparing three-point geometric relations, hypothetical correspondences are established between data and model points of high curvature. The hypothetical correspondences give rise to pose hypotheses which are evaluated with respect to the raw range data using a crude surface model. We show examples that demonstrate the method's tolerance to noise and occlusion.

引用

页码：113 / 116

页数：4

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