Real-time 3-D pose estimation using a high-speed range sensor
作者： D.A. Simon , M. Hebert , T. Kanade
DOI: 10.1109/ROBOT.1994.350953
关键词:
摘要: This paper describes a system which can perform full 3-D pose estimation of single arbitrarily shaped, rigid object at rates up to 10 Hz. A triangular mesh model the be tracked is generated offline using conventional range sensors. Real-time data sensed by CMU high speed VLSI sensor. Pose performed registering real-time an enhanced implementation Iterative Closest Point (ICP) Algorithm introduced Besl and McKay (1992). The method does not require explicit feature extraction or specification correspondence. accuracies order 1% size in translation, 1 degree rotation have been measured. >
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