30 July 1998 Approach to full pose estimation for an automatic control system based on vision
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Abstract
The application area of the developed 3D-pose estimator 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 pose (dimension 6) of a solid object is given by a single view gray scale image. A new method of the measurement 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 the 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 of maximums, unlike a complicated logic of matching-based algorithms working in the spatial domain. The method permits achieving of the highest theoretically possible precision for the class of model-based methods. Robustness is another advantage of the approach.
© (1998) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Georgii Khachaturov, Hugo Moncayo, "Approach to full pose estimation for an automatic control system based on vision", Proc. SPIE 3364, Enhanced and Synthetic Vision 1998, (30 July 1998); doi: 10.1117/12.317484; https://doi.org/10.1117/12.317484
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