The complex EGI: a new representation for 3-D pose determination
Kang, S.B.
Ikeuchi, K.
Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA;
This paper appears in: Pattern Analysis and Machine Intelligence, IEEE Transactions on
Publication Date: Jul 1993
Volume: 15,
Issue: 7
On page(s): 707-721
ISSN: 0162-8828
References Cited: 25
CODEN: ITPIDJ
INSPEC Accession Number: 4465237
Digital Object Identifier: 10.1109/34.221171
Current Version Published: 2002-08-06
Abstract
The complex extended Gaussian image (CEGI), a 3D object
representation that can be used to determine the pose of an object, is
described. In this representation, 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, whereas 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. The
justification for using such a scheme is twofold: it not only allows the
pose of the object to be extracted, but it also distinguishes a convex
object from a nonconvex object having the same EGI representation. The
CEGI scheme has the advantage of not requiring explicit spatial
object-model surface correspondence in determining object orientation
and translation. Experiments involving synthetic data of two polyhedral
and two smooth objects are presented to illustrate the feasibility of
this method
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