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Improving object orientation estimates by considering multiple viewpoints

Marton, Zoltan-Csaba and Türker, Serkan and Rink, Christian and Brucker, Manuel and Kriegel, Simon and Bodenmüller, Tim and Riedel, Sebastian (2017) Improving object orientation estimates by considering multiple viewpoints. Autonomous Robots, pp. 1-20. Springer. DOI: 10.1007/s10514-017-9633-1 ISSN 0929-5593

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Official URL: http://link.springer.com/article/10.1007/s10514-017-9633-1


This article describes a probabilistic approach for improving the accuracy of general object pose estimation algorithms. We propose a histogram filter variant that uses the exploration capabilities of robots, and supports active perception through a next-best-view proposal algorithm. For the histogram-based fusion method we focus on the orientation of the 6 degrees of freedom (DoF) pose, since the position can be processed with common filtering techniques. The detected orientations of the object, estimated with a pose estimator, are used to update the hypothesis of its actual orientation. We discuss the design of experiments to estimate the error model of a detection method, and describe a suitable representation of the orientation histograms. This allows us to consider priors about likely object poses or symmetries, and use information gain measures for view selection. The method is validated and compared to alternatives, based on the outputs of different 6 DoF pose estimators, using real-world depth images acquired using different sensors, and on a large synthetic dataset.

Item URL in elib:https://elib.dlr.de/112410/
Document Type:Article
Title:Improving object orientation estimates by considering multiple viewpoints
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Marton, Zoltan-CsabaZoltan.Marton (at) dlr.dehttps://orcid.org/0000-0002-3035-493X
Türker, Serkanserkan.tuerker (at) navvis.comUNSPECIFIED
Rink, ChristianChristian.Rink (at) dlr.dehttps://orcid.org/0000-0002-2175-0068
Brucker, ManuelManuel.Brucker (at) dlr.deUNSPECIFIED
Kriegel, SimonSimon.Kriegel (at) dlr.dehttps://orcid.org/0000-0003-4711-8527
Bodenmüller, Timtim.bodenmueller (at) dlr.deUNSPECIFIED
Riedel, SebastianSebastian.Riedel (at) dlr.dehttps://orcid.org/0000-0002-3655-2486
Journal or Publication Title:Autonomous Robots
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
DOI :10.1007/s10514-017-9633-1
Page Range:pp. 1-20
Keywords:Robotics, Perception, Object Recognition
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:19 May 2017 14:42
Last Modified:06 Sep 2019 15:18

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