The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

This report describes a system which can perform full 3-D pose estimation of a single arbitrarily shaped, rigid object at rates up to 10Hz. A triangular mesh model of the object to be tracked is generated offline using conventional range sensors. Real-time range data of the object is sensed by the CMU high speed VLSI range sensor. Pose estimation is performed by registering the real-time range data to the triangular mesh model using an enhanced implementation of the Iterative Closest Point (ICP) Algorithm introduced by Besl and McKay. The method does not require explicit feature extraction or specification of correspondence. Pose estimation accuracies on the order to 1mm in translation and 1 degree in rotation have been measured.

Notes

Grant ID: ARPA order 6873, MDA972-92-J-1010

Associated Center(s) / Consortia: Vision and Autonomous Systems Center

Number of pages: 14

Text Reference

David Simon, Martial Hebert, and Takeo Kanade, "Real-Time 3-D Pose Estimation Using a High-Speed Range Sensor," tech. report CMU-RI-TR-93-24, Robotics Institute, Carnegie Mellon University, November, 1993

BibTeX Reference

@techreport{Simon_1993_313,
   author = "David Simon and Martial Hebert and Takeo Kanade",
   title = "Real-Time 3-D Pose Estimation Using a High-Speed Range Sensor",
   booktitle = "",
   institution = "Robotics Institute",
   month = "November",
   year = "1993",
   number= "CMU-RI-TR-93-24",
   address= "Pittsburgh, PA",
}

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