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

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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

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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.

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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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