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Linear estimation of object pose from local fits to segments

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2 Author(s)
Bilbro, G.L. ; North Carolina State University, Raleigh, NC ; Snyder, W.E.

A planar or quadric surface can be fit to a segment of range data in a locally optimal sense by selecting the minimum eigensolution of a scatter matrix for that segment. We obtain a globally optimal fit by perturbing the local eigensystems with constraints reflecting relations among the corresponding primitives of a model. These pairwise relations define a view-invariant description of the model. For segments containing a few hundred pixels, the resulting perturbation is small enough to justify a linear treatment of the coupled system. From this globally optimal fit, we determine the pose of the object algebraically.

Published in:

Robotics and Automation. Proceedings. 1987 IEEE International Conference on  (Volume:4 )

Date of Conference:

Mar 1987

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