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Proceedings Paper

Approach to full pose estimation for an automatic control system based on vision
Author(s): Georgii Khachaturov; Hugo Moncayo
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Paper Abstract

The application area of the developed 3D-pose estimator may be spacecraft docking or any industrial robot control problem that permits putting a visual mark on the operational object. The input information to measure the complete pose (dimension 6) of a solid object is given by a single view gray scale image. A new method of the measurement is presented. It makes use of a visual mark with spatially distributed features. The Fourier transform technique serves for measurements of mark image parameters conveying the information about pose parameters. The method is direct: it does not perform any preliminary extraction of local features. Working in the spectral domain, the method is based on a simple search of maximums, unlike a complicated logic of matching-based algorithms working in the spatial domain. The method permits achieving of the highest theoretically possible precision for the class of model-based methods. Robustness is another advantage of the approach.

Paper Details

Date Published: 30 July 1998
PDF: 11 pages
Proc. SPIE 3364, Enhanced and Synthetic Vision 1998, (30 July 1998); doi: 10.1117/12.317484
Show Author Affiliations
Georgii Khachaturov, Univ. Autonoma Metropolitana Azcapotzalco (Mexico)
Hugo Moncayo, Univ. Autonoma Metropolitana Azcapotzalco (Mexico)


Published in SPIE Proceedings Vol. 3364:
Enhanced and Synthetic Vision 1998
Jacques G. Verly, Editor(s)

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