Skip to Main Content
The success of personal service robotics hinges upon reliable manipulation of everyday household objects, such as dishes, bottles, containers, and furniture. In order to accurately manipulate such objects, robots need to know objects' full 6-DOF pose, which is made difficult by clutter and occlusions. Many household objects have regular structure that can be used to effectively guess object pose given an observation of just a small patch on the object. In this paper, we present a new method to model the spatial distribution of oriented local features on an object, which we use to infer object pose given small sets of observed local features. The orientation distribution for local features is given by a mixture of Binghams on the hypersphere of unit quaternions, while the local feature distribution for position given orientation is given by a locally-weighted (Quaternion kernel) likelihood. Experiments on 3D point cloud data of cluttered and uncluttered scenes generated from a structured light stereo image sensor validate our approach.