Determining the Pose of an Object

R. M. Dolezal; T. N. Mudge; J. L. Turney; R. A. Volz

doi:10.1117/12.952245

9 June 1986 Determining the Pose of an Object

R. M. Dolezal, T. N. Mudge, J. L. Turney, R. A. Volz

Proceedings Volume 0595, Computer Vision for Robots; (1986) https://doi.org/10.1117/12.952245
Event: 1985 International Technical Symposium/Europe, 1985, Cannes, France

Abstract

We present an algorithm for determining the position and orientation (pose) of an unoccluded three-dimensional object given a digitized grey-scale image. A model data base of characteristic views is generated prior to run-time by merging perspective views containing the same feature points, such as points of sharp curvature in an edge map, into common characteristic views. The run-time algorithm consists of (1) extracting an edge map from the image; (2) locating feature points in the edge map; (3) using intrinsic properties of the feature points in the image, such as signs of curvature, to rank the characteristic views for the object according to their likelihood of correspondence to the image; (4) for each characteristic view in the ranking, matching properties of the image feature points and object feature points in order to generate potential correspondences; and (5) verifying the most likely correspondences by examining a least-squares fit in each correspondence. The fit yields a rotation matrix that defines the pose of the object.

Citation Download Citation

R. M. Dolezal, T. N. Mudge, J. L. Turney, and R. A. Volz "Determining the Pose of an Object", Proc. SPIE 0595, Computer Vision for Robots, (9 June 1986); https://doi.org/10.1117/12.952245

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available