Fast Pose Tracking Based on Ranked 3D Planar Patch Correspondences (CROSBI ID 591102)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
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