A TECHNIQUE FOR ESTIMATING THE POSE OF SURFACE SHAPES USING TRIPOD OPERATORS

摘要

A new technique known as 'non-pose-distinctive placement removal' is combined with tripod operators (TOs) (Figs. 1a-1c), a method for interpreting range images, and is comprised of two steps. The first is training the system on a new object so that it will later be able to estimate the pose of that object when seen again in some range image (Fig. 4, 114). The second is the actual pose estimation, where a TO is placed at a random location on a new range image containing the object of interest (Fig. 5, 102). Then the nearest neighbor in feature space, the nearpoint, is computed. If the distance to the nearpoint is less than some appropriate threshold (Fig. 5, 108), then the surface is recognized and pose estimation proceeds by computing the six pose parameters of a central triangle of the new placement in the coordinate system of the range imaging instrument (Fig. 5, 112).