3-D Object Pose Determination Using Complex EGI

Sing Bing Kang and Katsushi Ikeuchi
tech. report CMU-RI-TR-90-18, Robotics Institute, Carnegie Mellon University, October, 1990


Download
  • Adobe portable document format (pdf) (470KB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract
This report describes a new method based on the Extended Gaussian Image (EGI) which can be used to determine the pose of a 3-D object. In this scheme, the weight associated with each outward surface normal is a complex weight. The normal distance of the surface from the predefined origin is encoded as the phase of the weight while the magnitude of the weight is the visible area of the surface. This approach decouples the orientation and translation determination into two distinct least-squares problems. Experiments involving synthetic data of two polyhedral and two smooth objects indicate the feasibility of this method. The best results are 4.7% and 1.5% (total distance error) for the polyhedral and smooth objects, respectively. The figures are quoted in terms of percentages of the maximum allowable displacement. Experiments using real range data for the two smooth objects yield good results, with total translation errors as low as 2.6%.

Notes
Sponsor: DARPA
Grant ID: F33615-87-C-1499
Associated Center(s) / Consortia: Vision and Autonomous Systems Center
Number of pages: 47

Text Reference
Sing Bing Kang and Katsushi Ikeuchi, "3-D Object Pose Determination Using Complex EGI," tech. report CMU-RI-TR-90-18, Robotics Institute, Carnegie Mellon University, October, 1990

BibTeX Reference
@techreport{Ikeuchi_1990_230,
   author = "Sing Bing Kang and Katsushi Ikeuchi",
   title = "3-D Object Pose Determination Using Complex EGI",
   booktitle = "",
   institution = "Robotics Institute",
   month = "October",
   year = "1990",
   number= "CMU-RI-TR-90-18",
   address= "Pittsburgh, PA",
}