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Pregled bibliografske jedinice broj: 599560

Fast Pose Tracking Based on Ranked 3D Planar Patch Correspondences


Cupec, Robert; Nyarko, Emmanuel Karlo; Filko, Damir; Petrović, Ivan
Fast Pose Tracking Based on Ranked 3D Planar Patch Correspondences // 10th IFAC Symposium on Robot Control (SYROCO2012) / Petrović, Ivan ; Korondi Peter (ur.).
Dubrovnik, 2012. str. 108-113 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)


Naslov
Fast Pose Tracking Based on Ranked 3D Planar Patch Correspondences

Autori
Cupec, Robert ; Nyarko, Emmanuel Karlo ; Filko, Damir ; Petrović, Ivan

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
10th IFAC Symposium on Robot Control (SYROCO2012) / Petrović, Ivan ; Korondi Peter - Dubrovnik, 2012, 108-113

Skup
10th IFAC Symposium on Robot Control (SYROCO2012)

Mjesto i datum
Dubrovnik, Croatia, 05-07.09.2012

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Robot vision; pose tracking; mobile robots; range image registration; range image segmentation

Sažetak
A fast robot pose tracking algorithm based on planar segments extracted from range images is presented. A range image obtained from a 3D sensor is transformed to a 2.5D triangle mesh from which planar segments are extracted. Using information provided by each planar segment based on its size and orientation, a directed search hypothesis generation algorithm using a tree structure is presented. The presented approach is experimentally evaluated using 3D data obtained by a Kinect sensor mounted on a mobile robot. Results indicate that the proposed method is much faster than similar previously proposed methods.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo



POVEZANOST RADA


Projekt / tema
036-0363078-3018 - Upravljanje mobilnim robotima i vozilima u nepoznatim i dinamičkim okruženjima (Ivan Petrović, )
165-0361621-2000 - Distribuirano računalno upravljanje u transportu i industrijskim pogonima (Željko Hocenski, )

Ustanove
Fakultet elektrotehnike i računarstva, Zagreb,
Fakultet elektrotehnike, računarstva i informacijskih tehnologija Osijek