Pose determination using tree annealing

摘要

The problem of pose determination of a surface in a range image is described as a six-degree-of-freedom optimization problem, where the surface is expressed by a quadratic equation. The tree annealing algorithm, a general-purpose technique for finding minima of functions of continuously valued variables, is presented. The technique is applied to the pose determination of analytic surfaces and is shown to be quite effective even in the presence of considerable amounts of noise in the images.