ICRA 2011 Paper Abstract


Paper WeA104.1

Strobl, Klaus H. (German Aerospace Center (DLR)), Mair, Elmar (Technische Universität München (TUM)), Hirzinger, Gerd (German Aerospace Center (DLR))

Image-Based Pose Estimation for 3-D Modeling in Rapid, Hand-Held Motion

Scheduled for presentation during the Regular Sessions "Range Sensing I" (WeA104), Wednesday, May 11, 2011, 08:20−08:35, Room 3E

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 5, 2020

Keywords Range Sensing, Visual Tracking, Computer Vision for Robotics and Automation


This work aims at accurate estimation of the pose of a close-range 3-D modeling device in real-time, at high-rate, and solely from its own images. In doing so, we replace external positioning systems that constrain the system in size, mobility, accuracy, and cost. At close range, accurate pose tracking from image features is hard because feature projections do not only drift in the face of rotation but also in the face of translation. Large, unknown feature drifts may impede real-time feature tracking and subsequent pose estimation---especially with concurrent operation of other 3-D sensors on the same computer. The problem is solved in Ref. [1] by the partial integration of readings from a backing inertial measurement unit (IMU). In this work we avoid using an IMU by improved feature matching: full utilization of the current state estimation (including structure) during feature matching enables decisive modifications of the matching parameters for more efficient tracking---we hereby follow the Active Matching paradigm.



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