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Fast Pose Tracking Based on Ranked 3D Planar Patch Correspondences (CROSBI ID 591102)

Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija

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

Podaci o odgovornosti

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

engleski

Fast Pose Tracking Based on Ranked 3D Planar Patch Correspondences

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.

robot vision; pose tracking; mobile robots; range image registration; range image segmentation

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Podaci o prilogu

108-113.

2012.

objavljeno

Podaci o matičnoj publikaciji

10th IFAC Symposium on Robot Control (SYROCO2012)

Petrović, Ivan ; Korondi Peter

Dubrovnik:

Podaci o skupu

10th IFAC Symposium on Robot Control (SYROCO2012)

predavanje

05.09.2012-07.09.2012

Dubrovnik, Hrvatska

Povezanost rada

Elektrotehnika, Računarstvo