Accession Number:

ADA273873

Title:

Real-Time 3-D Pose Estimation Using A High-Speed Range Sensor

Descriptive Note:

Technical rept.,

Corporate Author:

CARNEGIE-MELLON UNIV PITTSBURGH PA ROBOTICS INST

Report Date:

1993-11-01

Pagination or Media Count:

18.0

Abstract:

This report describes a system which can perform full 3-D pose estimation of a single arbitrarily shaped, rigid object at rates up to 10Hz. A triangular mesh model of the object to be tracked is generated offline using conventional range sensors. Real-time range data of the object is sensed by the CMU high speed VLSI range sensor. Pose estimation is performed by registering the real-time range data to the triangular mesh model using an enhanced implementation of the Iterative Closest Point ICP Algorithm introduced by Besl and McKay. The method does not require explicit feature extraction or specification of correspondence. Pose estimation accuracies on the order of 1mm in translation and 1 degree in rotation have been measured.

Subject Categories:

  • Numerical Mathematics
  • Test Facilities, Equipment and Methods

Distribution Statement:

APPROVED FOR PUBLIC RELEASE