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Streaming Monte Carlo Pose Estimation for Autonomous Object Modeling

Rink, Christian and Kriegel, Simon (2016) Streaming Monte Carlo Pose Estimation for Autonomous Object Modeling. In: 2016 Conference on Computer and Robot Vision (CRV). Conference on Computer and Robot Vision, 1-3 Jun 2016, Victoria, Canada.

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This work contributes the optimization of a streaming pose estimation particle filter and its integration into an autonomous object modeling approach. The particle filter is advanced by an additional pose optimization in the particle weighting step. By integrating the method into the autonomous object modeling approach, the repositioning of objects is enabled, which is often necessary in order to acquire complete models. Experiments show that the usage of iterative closest point is too restrictive for general transformations. The used Monte Carlo method enables a robust pose estimation without loss of time and with high precision. Further, it is shown that the overall modeling results are improved clearly.

Item URL in elib:https://elib.dlr.de/104922/
Document Type:Conference or Workshop Item (Speech)
Additional Information:The file, which is provided here, is a draft version. Please refer to www.ieeexplore.com for the final version of the article.
Title:Streaming Monte Carlo Pose Estimation for Autonomous Object Modeling
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Rink, ChristianChristian.Rink (at) dlr.deUNSPECIFIED
Kriegel, SimonSimon.Kriegel (at) dlr.dehttps://orcid.org/0000-0003-4711-8527
Date:June 2016
Journal or Publication Title:2016 Conference on Computer and Robot Vision (CRV)
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Series Name:Proceedings of Conference on Computer and Robot Vision (CRV)
Keywords:Pose estimation, Laser scanning, 3D modeling, Active sensing
Event Title:Conference on Computer and Robot Vision
Event Location:Victoria, Canada
Event Type:international Conference
Event Dates:1-3 Jun 2016
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Multisensorielle Weltmodellierung
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Deposited By: Kriegel, Dr. Simon
Deposited On:18 Jul 2016 14:23
Last Modified:31 Jul 2019 20:02

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