Recognition, tracking, and pose estimation of arbitrarily shaped 3-D objects in cluttered intensity and range imagery

Paul G. Gottschalk; Jerry L. Turney; Arnold H. Chiu; Trevor N. Mudge

doi:10.1117/12.25247

1 April 1991 Recognition, tracking, and pose estimation of arbitrarily shaped 3-D objects in cluttered intensity and range imagery

Paul G. Gottschalk, Jerry L. Turney, Arnold H. Chiu, Trevor N. Mudge

Author Affiliations +

Proceedings Volume 1383, Sensor Fusion III: 3D Perception and Recognition; (1991) https://doi.org/10.1117/12.25247
Event: Advances in Intelligent Robotics Systems, 1990, Boston, MA, United States

Abstract

Algorithms for recognition, tracking, and pose estimation of 3-d objects in intensity imagery commonly assume that features are the result of imaging surface landmarks. This assumption is most commonly violated when a feature is detected on an occluding boundary generated by a smoothly curving surface. We have developed a method that can recognize, track, and determine the pose of arbitrarily shaped, partially visible 3-d objects in both intensity and range imagery. We describe the results of tests on real intensity imagery and synthetic range imagery.

Citation Download Citation

Paul G. Gottschalk, Jerry L. Turney, Arnold H. Chiu, and Trevor N. Mudge "Recognition, tracking, and pose estimation of arbitrarily shaped 3-D objects in cluttered intensity and range imagery", Proc. SPIE 1383, Sensor Fusion III: 3D Perception and Recognition, (1 April 1991); https://doi.org/10.1117/12.25247

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