Pose Clustering From Stereo Data

Ulrich Hillenbrand

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Paper

Pose Clustering From Stereo Data

Topics: Active and Robot Vision; Visually Guided Robotics

In VISAPP-Robotic Perception - Volume 0VISIGRAPP, 23-32, 2008 , Funchal, Madeira, Portugal

Author: Ulrich Hillenbrand

Affiliation: Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Germany

Related Ontology Subjects/Areas/Topics: Active and Robot Vision ; Computer Vision, Visualization and Computer Graphics ; Motion, Tracking and Stereo Vision ; Visually Guided Robotics

Abstract: This article describes an algorithm for pose or motion estimation based on clustering of parameters in the six-dimensional pose space. The parameter samples are computed from data samples randomly drawn from stereo data points. The estimator is global and robust, performing matches to parts of a scene without prior pose information. It is general, in that it does not require any particular object features. Empirical object models can be built largely automatically. An implemented application from the service robotic domain and a quantitative performance study on real data are presented.

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Paper citation in several formats:

Hillenbrand, U. (2008). Pose Clustering From Stereo Data. In VISAPP-Robotic Perception (VISIGRAPP 2008) - VISAPP-RoboPerc; ISBN 978-989-8111-23-4, SciTePress, pages 23-32. DOI: 10.5220/0002341900230032

@conference{visapp-roboperc08,
author={Ulrich Hillenbrand.},
title={Pose Clustering From Stereo Data},
booktitle={VISAPP-Robotic Perception (VISIGRAPP 2008) - VISAPP-RoboPerc},
year={2008},
pages={23-32},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002341900230032},
isbn={978-989-8111-23-4},
}

TY - CONF

JO - VISAPP-Robotic Perception (VISIGRAPP 2008) - VISAPP-RoboPerc
TI - Pose Clustering From Stereo Data
SN - 978-989-8111-23-4
AU - Hillenbrand, U.
PY - 2008
SP - 23
EP - 32
DO - 10.5220/0002341900230032
PB - SciTePress