Parallel approach to simultaneously solving the correspondence problem and the pose estimation problem

William J. Wolfe

doi:10.1117/12.135176

Abstract

We describe a parallel-distributed approach to simultaneously solving the correspondence problem and the pose estimation problem. When the correspondence is known our method reduces to a generalized Hopfield network with a node for each image point that has an activation that converges to the ray-length through the image point to the object point. Inexact knowledge of the correspondence between object points and image points is represented as an assignment array that encodes the degree of confidence in each of the possible correspondences, similar to the traditional `assignment problem' of optimization theory. Two neural networks, one for pose estimation and one for solving the assignment problem, interact via the introduction of `pseudo image points,' created from the inexact correspondences. These `pseudo image points' reduce to the actual image points when the correspondence is known.

Citation Download Citation

William J. Wolfe, William J. Wolfe, "Parallel approach to simultaneously solving the correspondence problem and the pose estimation problem", Proc. SPIE 1613, Mobile Robots VI, (14 February 1992); doi: 10.1117/12.135176; https://doi.org/10.1117/12.135176

ACCESS THE FULL ARTICLE

PERSONAL SIGN IN
Full access may be available with your subscription

Email or Username Forgot your username?

Password Forgot your password?

Show

Remember Email/Username on this computer

Remember Password

No SPIE account? Create an account
or Institutional Sign In via Shibboleth

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available

Members: $14.40

Non-members: $18.00 ADD TO CART

Show All Keywords

Keywords/Phrases

Search In:

Publication Years