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Authors: Thomas Nierobisch and Frank Hoffmann

Affiliation: Chair for Control and Systems Engineering, Universität Dortmund, Germany

Keyword(s): 2DOF pose estimation, color cooccurrence histogram, probabilistic neural network.

Abstract: Robust techniques for pose estimation are essential for robotic manipulation and grasping tasks. We present a novel approach for 2DOF pose estimation based on angular color cooccurrence histograms and its application to object grasping. The representation of objects is based on pixel cooccurrence histograms extracted from the color segmented image. The confidence in the pose estimate is predicted by a probabilistic neural network based on the disambiguity of the underlying matchvalue curve. In an experimental evaluation the estimated pose is used as input to the open loop control of a robotic grasp. For more complex manipulation tasks the 2DOF estimate provides the basis for the initialization of a 6DOF geometric based object tracking in real-time.

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Paper citation in several formats:
Nierobisch, T. and Hoffmann, F. (2007). 2DOF POSE ESTIMATION OF TEXTURED OBJECTS WITH ANGULAR COLOR COOCCURRENCE HISTOGRAMS. In Proceedings of the Second International Conference on Computer Vision Theory and Applications (VISIGRAPP 2007) - Volume 2: VISAPP; ISBN 978-972-8865-74-0; ISSN 2184-4321, SciTePress, pages 52-59. DOI: 10.5220/0002053000520059

@conference{visapp07,
author={Thomas Nierobisch. and Frank Hoffmann.},
title={2DOF POSE ESTIMATION OF TEXTURED OBJECTS WITH ANGULAR COLOR COOCCURRENCE HISTOGRAMS},
booktitle={Proceedings of the Second International Conference on Computer Vision Theory and Applications (VISIGRAPP 2007) - Volume 2: VISAPP},
year={2007},
pages={52-59},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002053000520059},
isbn={978-972-8865-74-0},
issn={2184-4321},
}

TY - CONF

JO - Proceedings of the Second International Conference on Computer Vision Theory and Applications (VISIGRAPP 2007) - Volume 2: VISAPP
TI - 2DOF POSE ESTIMATION OF TEXTURED OBJECTS WITH ANGULAR COLOR COOCCURRENCE HISTOGRAMS
SN - 978-972-8865-74-0
IS - 2184-4321
AU - Nierobisch, T.
AU - Hoffmann, F.
PY - 2007
SP - 52
EP - 59
DO - 10.5220/0002053000520059
PB - SciTePress

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