The application area of the 3D pose estimator that has been developed may be spacecraft docking or any industrial robot control problem that permits putting a visual mark on the operational object. The input information to measure the complete (six-dimensional) pose of a solid object is given by a single-view gray-scale image. A new measurement method is presented. It makes use of a visual mark with spatially distributed features. The Fourier transform technique serves for measurements of mark image parameters conveying information about pose parameters. The method is direct; it does not perform any preliminary extraction of local features. Working in the spectral domain, the method is based on a simple search for maxima, unlike the complicated logic of matching-based algorithms working in the spatial domain. The method permits the highest theoretically possible precision to be achieved for the class of model-based methods. Robustness is another advantage of the approach.


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    Title :

    An approach to full pose estimation for an automatic control system based on vision


    Contributors:


    Publication date :

    1998


    Size :

    11 Seiten, 24 Quellen




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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