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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Detalles Bibliográficos
Autor: KHACHATUROV, Georgii
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.
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spelling Non-Uniformity of a Pattern and "the Best" Single View 3D Pose EstimatorKHACHATUROV, GeorgiiKeywords. Model-based single view 3D-pose estimation, spacecraft docking, robot control, visual servoing.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.Instituto Politécnico Nacional - Centro de Investigación en Computación (CIC).Investigación en ComputaciónPDFRevista Computación y Sistemas; Vol. 2 No. 2 y No. 32013-04-13T00:37:29Z2013-04-13T00:37:29Z1998-12-15info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleRevista Computación y Sistemas; Vol. 2 No. 2 y No. 31405-5546http://www.repositoriodigital.ipn.mx/handle/123456789/15109reponame:Repositorio Digital del IPNinstname:Instituto Politécnico Nacionalinstacron:IPNen_USRevista Computación y Sistemas;Vol. 2 No. 2 y No. 3info:eu-repo/semantics/openAccessoai:www.repositoriodigital.ipn.mx:123456789/151092026-02-18T16:44:21Z
dc.title.none.fl_str_mv Non-Uniformity of a Pattern and "the Best" Single View 3D Pose Estimator
title Non-Uniformity of a Pattern and "the Best" Single View 3D Pose Estimator
spellingShingle Non-Uniformity of a Pattern and "the Best" Single View 3D Pose Estimator
KHACHATUROV, Georgii
Keywords. Model-based single view 3D-pose estimation, spacecraft docking, robot control, visual servoing.
title_short Non-Uniformity of a Pattern and "the Best" Single View 3D Pose Estimator
title_full Non-Uniformity of a Pattern and "the Best" Single View 3D Pose Estimator
title_fullStr Non-Uniformity of a Pattern and "the Best" Single View 3D Pose Estimator
title_full_unstemmed Non-Uniformity of a Pattern and "the Best" Single View 3D Pose Estimator
title_sort Non-Uniformity of a Pattern and "the Best" Single View 3D Pose Estimator
dc.creator.none.fl_str_mv KHACHATUROV, Georgii
author KHACHATUROV, Georgii
author_facet KHACHATUROV, Georgii
author_role author
dc.subject.none.fl_str_mv Keywords. Model-based single view 3D-pose estimation, spacecraft docking, robot control, visual servoing.
topic Keywords. Model-based single view 3D-pose estimation, spacecraft docking, robot control, visual servoing.
description 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.
publishDate 1998
dc.date.none.fl_str_mv 1998-12-15
2013-04-13T00:37:29Z
2013-04-13T00:37:29Z
dc.type.none.fl_str_mv info:eu-repo/semantics/publishedVersion
info:eu-repo/semantics/article
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv Revista Computación y Sistemas; Vol. 2 No. 2 y No. 3
1405-5546
http://www.repositoriodigital.ipn.mx/handle/123456789/15109
identifier_str_mv Revista Computación y Sistemas; Vol. 2 No. 2 y No. 3
1405-5546
url http://www.repositoriodigital.ipn.mx/handle/123456789/15109
dc.language.none.fl_str_mv en_US
language_invalid_str_mv en_US
dc.relation.none.fl_str_mv Revista Computación y Sistemas;Vol. 2 No. 2 y No. 3
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.publisher.none.fl_str_mv Revista Computación y Sistemas; Vol. 2 No. 2 y No. 3
publisher.none.fl_str_mv Revista Computación y Sistemas; Vol. 2 No. 2 y No. 3
dc.source.none.fl_str_mv reponame:Repositorio Digital del IPN
instname:Instituto Politécnico Nacional
instacron:IPN
instname_str Instituto Politécnico Nacional
instacron_str IPN
institution IPN
reponame_str Repositorio Digital del IPN
collection Repositorio Digital del IPN
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