Abstract: The application area of the developed 3D-pose estimatormay be spacecraft docking or any industrial robotcontrol problem that permits putting a visual mark onthe operational object. The input information tomeasure the complete pose (dimension 6) of a solidobject is given by a single view gray scale image. Anew method of the measurement is presented. It makesuse of a visual mark with spatially distributedfeatures. The Fourier transform technique serves formeasurements of mark image parameters conveying theinformation about pose parameters. The method isdirect: it does not perform any preliminary extractionof local features. Working in the spectral domain, themethod is based on a simple search of maximums, unlikea complicated logic of matching-based algorithmsworking in the spatial domain. The method permitsachieving of the highest theoretically possibleprecision for the class of model-based methods.Robustness is another advantage of the approach. !24
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