首页> 外文会议>Intelligent Robots and Computer Vision XVIII: Algorithms, Techniques, and Active Vision >Structured-lighting approach to enhance pose characterization usingglobal image descriptors for a model-free robot positioning problem,
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Structured-lighting approach to enhance pose characterization usingglobal image descriptors for a model-free robot positioning problem,

机译:结构照明方法可使用全局图像描述符增强姿态特征,从而解决无模型机器人定位问题,

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Abstract: Pose characterization refers to the unique representation of an object's pose through a set of image features. In this regard, one of the prerequisite for using visual images in representing an object's pose is a set of view-dependent image features that is unique to a single position and orientation of the object relative to the camera. Here, we propose an enhancement to the global feature extraction method. It utilizes an active illumination that projects a set of orthogonal grid patterns on the object. The deformations of the grid pattern incident on the complex target object carried important information about the surface structure of the target. This grid-encoded image can be characterized using global descriptors. Results indicate that this illumination increases the sensitivity of the global features to changes in object pose. !8
机译:摘要:姿势表征是指通过一组图像特征对对象姿势的唯一表示。在这方面,使用视觉图像表示物体姿势的先决条件之一是一组依赖于视图的图像特征,这些特征对于物体相对于相机的单个位置和方向是唯一的。在这里,我们提出了对全局特征提取方法的增强。它利用主动照明将一组正交网格图案投射到对象上。入射到复杂目标物体上的栅格图案的变形携带了有关目标物体表面结构的重要信息。可以使用全局描述符来表征该网格编码图像。结果表明,这种照明增加了全局特征对物体姿态变化的敏感性。 !8

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