Real-time 3-D pose estimation using a high-speed range sensor
- 17 December 2002
- proceedings article
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 2235-2241
- https://doi.org/10.1109/robot.1994.350953
Abstract
This paper describes a system which can perform full 3-D pose estimation of a single arbitrarily shaped, rigid object at rates up to 10Hz. A triangular mesh model of the object to be tracked is generated offline using conventional range sensors. Real-time range data of the object is sensed by the CMU high speed VLSI range sensor. Pose estimation is per- formed by registering the real-time range data to the trian- gular mesh model using an enhanced implementation of the Iterative Closest Point (ICP) Algorithm introduced by Besl and McKay. The method does not require explicit feature ex- traction or specification of correspondence. Pose estimation accuracies on the order of 1% of the object size in transla- tion, and 1 degree in rotation have been measured.Keywords
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