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Proceedings Paper

Recognition, tracking, and pose estimation of arbitrarily shaped 3-D objects in cluttered intensity and range imagery
Author(s): Paul G. Gottschalk; Jerry L. Turney; Arnold H. Chiu; Trevor N. Mudge
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Paper Abstract

Algorithms for recognition, tracking, and pose estimation of 3-d objects in intensity imagery commonly assume that features are the result of imaging surface landmarks. This assumption is most commonly violated when a feature is detected on an occluding boundary generated by a smoothly curving surface. We have developed a method that can recognize, track, and determine the pose of arbitrarily shaped, partially visible 3-d objects in both intensity and range imagery. We describe the results of tests on real intensity imagery and synthetic range imagery.

Paper Details

Date Published: 1 April 1991
PDF: 13 pages
Proc. SPIE 1383, Sensor Fusion III: 3D Perception and Recognition, (1 April 1991); doi: 10.1117/12.25247
Show Author Affiliations
Paul G. Gottschalk, KMS Fusion, Inc. (United States)
Jerry L. Turney, KMS Fusion, Inc. (United States)
Arnold H. Chiu, KMS Fusion, Inc. (United States)
Trevor N. Mudge, KMS Fusion, Inc. (United States)

Published in SPIE Proceedings Vol. 1383:
Sensor Fusion III: 3D Perception and Recognition
Paul S. Schenker, Editor(s)

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