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Image-Based Pose Estimation for 3-D Modeling in Rapid, Hand-Held Motion

Strobl, Klaus H. and Mair, Elmar and Hirzinger, Gerd (2011) Image-Based Pose Estimation for 3-D Modeling in Rapid, Hand-Held Motion. In: Proceedings of ICRA 2011, pp. 2593-2600. IEEE International Conference on Robotics and Automation, 9-13 May 2011, Shanghai, China.

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Abstract

This work aims at accurate estimation of the pose of a close-range 3-D modeling device in real-time, at high-rate, and solely from its own images. In doing so, we replace external positioning systems that constrain the system in size, mobility, accuracy, and cost. At close range, accurate pose tracking from image features is hard because feature projections do not only drift in the face of rotation but also in the face of translation. Large, unknown feature drifts may impede real-time feature tracking and subsequent pose estimation---especially with concurrent operation of other 3-D sensors on the same computer. The problem is solved in Ref. [1] by the partial integration of readings from a backing inertial measurement unit (IMU). In this work we avoid using an IMU by improved feature matching: full utilization of the current state estimation (including structure) <i>during</i> feature matching enables decisive modifications of the matching parameters for more efficient tracking---we hereby follow the Active Matching paradigm.

Item URL in elib:https://elib.dlr.de/69848/
Document Type:Conference or Workshop Item (Other, Speech, Paper)
Title:Image-Based Pose Estimation for 3-D Modeling in Rapid, Hand-Held Motion
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Strobl, Klaus H.klaus.strobl (at) dlr.deUNSPECIFIED
Mair, ElmarUNSPECIFIEDUNSPECIFIED
Hirzinger, GerdUNSPECIFIEDUNSPECIFIED
Date:11 May 2011
Journal or Publication Title:Proceedings of ICRA 2011
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Page Range:pp. 2593-2600
Status:Published
Keywords:computer vision, tracking, 3-d modeling
Event Title:IEEE International Conference on Robotics and Automation
Event Location:Shanghai, China
Event Type:international Conference
Event Dates:9-13 May 2011
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Leistungszentrum Robotik - Mobilität und Exploration (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012) > Robotic Systems
Deposited By: Strobl, Klaus
Deposited On:14 Jun 2011 09:28
Last Modified:31 Jul 2019 19:31

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