Accession Number : ADA261435


Title :   Uncertainty in Object Pose Determination with Three Light-Stripe Range Measurements


Descriptive Note : Research rept.


Corporate Author : CARNEGIE-MELLON UNIV PITTSBURGH PA SCHOOL OF COMPUTER SCIENCE


Personal Author(s) : Kemmotsu, Keiichi ; Kanade, Takeo


Full Text : https://apps.dtic.mil/dtic/tr/fulltext/u2/a261435.pdf


Report Date : Jan 1993


Pagination or Media Count : 27


Abstract : The pose (position and orientation) of a polyhedral object can be determined with sparse range data obtained from simple light-stripe range finders. However, the sensing data inherently contains some error which introduces uncertainty in the determination of the object's pose. This paper presents a method for estimating the uncertainty in determining the pose of an object when using several light-stripe range finders. Three-dimensional line segments obtained by the range finders are matched to model faces based on an interpretation tree search. The object pose is obtained by a least squares fit of the segment-face pairings. The authors show that the uncertainty in the position of the object can be estimated using the covariance matrix of the endpoint positions of the sensed line segments. Experiments with three light-stripe range finders show that their method makes it possible to estimate how accurately the pose of an object can be determined.


Descriptors :   *POSITION(LOCATION) , *UNCERTAINTY , *ORIENTATION(DIRECTION) , *ESTIMATES , *COMPUTER VISION , *RANGE FINDING , IMAGE PROCESSING , THREE DIMENSIONAL , ERRORS , GEOMETRY , PATTERN RECOGNITION , LEAST SQUARES METHOD , ERROR ANALYSIS , OPTICAL IMAGES , ACCURACY , ROBOTICS , OPTICAL DETECTION


Subject Categories : Cybernetics
      Optical Detection and Detectors
      Target Direction, Range and Position Finding


Distribution Statement : APPROVED FOR PUBLIC RELEASE