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Pregled bibliografske jedinice broj: 599560

Zbornik radova

Autori: Cupec, Robert; Nyarko, Emmanuel Karlo; Filko, Damir; Petrović, Ivan
Naslov: Fast Pose Tracking Based on Ranked 3D Planar Patch Correspondences
( Fast Pose Tracking Based on Ranked 3D Planar Patch Correspondences )
Izvornik: 10th IFAC Symposium on Robot Control (SYROCO2012) / Petrović, Ivan ; Korondi Peter (ur.). - Dubrovnik :
Skup: 10th IFAC Symposium on Robot Control (SYROCO2012)
Mjesto i datum: Dubrovnik, Croatia, 05-07.09.2012
Ključne riječi: robot vision; pose tracking; mobile robots; range image registration; range image segmentation
( 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.
Vrsta sudjelovanja: Predavanje
Vrsta prezentacije u zborniku: Cjeloviti rad (više od 1500 riječi)
Vrsta recenzije: Međunarodna recenzija
Projekt / tema: 165-0361621-2000, 036-0363078-3018
Izvorni jezik: eng
Kategorija: Znanstveni
Znanstvena područja:
Elektrotehnika,Računarstvo
URL Internet adrese: http://www.ifac-papersonline.net/Detailed/55701.html
Upisao u CROSBI: nyarko@etfos.hr (nyarko@etfos.hr), 23. Lis. 2012. u 10:12 sati



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