Non-Uniformity of a Pattern and "the Best" Single View 3D Pose Estimator
Abstract. Visual model ofan object is presented as composition ofa model-shape function and a model-pattern function. Nonuniformity ofa pattern is defined as a quadratic form related to the gradient ofintensity. F or aplanar model, it is proved rhat a more precise estimation responds to a greater no...
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| Tipo de recurso: | artículo |
| Estado: | Versión publicada |
| Fecha de publicación: | 1998 |
| País: | México |
| Institución: | Instituto Politécnico Nacional |
| Repositorio: | Repositorio Digital del IPN |
| OAI Identifier: | oai:www.repositoriodigital.ipn.mx:123456789/15109 |
| Acceso en línea: | http://www.repositoriodigital.ipn.mx/handle/123456789/15109 |
| Access Level: | acceso abierto |
| Palabra clave: | Keywords. Model-based single view 3D-pose estimation, spacecraft docking, robot control, visual servoing. |
| Sumario: | Abstract. Visual model ofan object is presented as composition ofa model-shape function and a model-pattern function. Nonuniformity ofa pattern is defined as a quadratic form related to the gradient ofintensity. F or aplanar model, it is proved rhat a more precise estimation responds to a greater nonuniformity. This is applied to develop a c/ass ofsingle-view 3D-pose estimators exploring extremely non-uniform patterns. The estimators are of high precision, fast, robust, and algorithmical/y simple. Possib/e application is spacecraft docking, or any robot problem permitting usage ofa visual mark (target) on remote object. |
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