Abstract
A method based on the extended Gaussian image (EGI) which can be
used to determine the pose of a 3-D object is presented. In this scheme,
the weight associated with each outward surface normal is a complex
weight. The normal distance of the surface from the predefined origin is
encoded as the phase of the weight, while the magnitude of the weight is
the visible area of the surface. This approach decouples the orientation
and translation determination into two distinct least-squares problems.
Experiments involving synthetic data of two polyhedral and two smooth
objects as well as real range data of the same smooth objects indicate
the feasibility of this method
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