Pregled bibliografske jedinice broj: 599560
Fast Pose Tracking Based on Ranked 3D Planar Patch Correspondences
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)
CROSBI ID: 599560 Za ispravke kontaktirajte CROSBI podršku putem web obrasca
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, Hrvatska, 05.09.2012. - 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
Projekti:
036-0363078-3018 - Upravljanje mobilnim robotima i vozilima u nepoznatim i dinamičkim okruženjima (Petrović, Ivan, MZOS ) ( CroRIS)
165-0361621-2000 - Distribuirano računalno upravljanje u transportu i industrijskim pogonima (Hocenski, Željko, MZO ) ( CroRIS)
Ustanove:
Fakultet elektrotehnike i računarstva, Zagreb,
Fakultet elektrotehnike, računarstva i informacijskih tehnologija Osijek
Profili:
Emmanuel Karlo Nyarko
(autor)
Ivan Petrović
(autor)
Damir Filko
(autor)
Robert Cupec
(autor)