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

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