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Proceedings Paper

Model-based tracking using a real-time laser rangefinder
Author(s): William Cheung; Peter Letts; Gerhard Roth
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Paper Abstract

This paper discusses the problem of tracking a geometric object using data from a real-time laser rangefinder. Because of the volume of data we choose to preprocess each range image to find the edge points. Then 3D lines and circles are extracted from these edge points. By matching these extracted curves to the model of each object we are able to compute the object pose, that is its position and orientation. Some examples are given of the operation of these algorithms using simulated range data.

Paper Details

Date Published: 29 November 1993
PDF: 12 pages
Proc. SPIE 2063, Vision, Sensors, and Control for Automated Manufacturing Systems, (29 November 1993); doi: 10.1117/12.164966
Show Author Affiliations
William Cheung, Hymarc Ltd. (Canada)
Peter Letts, P.J. Letts Consulting Ltd. (Canada)
Gerhard Roth, National Research Council of Canada (Canada)


Published in SPIE Proceedings Vol. 2063:
Vision, Sensors, and Control for Automated Manufacturing Systems
Scott S. Breidenthal; Alan A. Desrochers, Editor(s)

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