Name
Title | ||
|---|---|---|
Recursive Bayesian pose and shape estimation of 3D objects using transformed plane curves |
Abstract | ||
|---|---|---|
We consider the task of recursively estimating the pose and shape parameters of 3D objects based on noisy point cloud measurements from their surface. We focus on objects whose surface can be constructed by transforming a plane curve, such as a cylinder that is constructed by extruding a circle. However, designing estimators for such objects is challenging, as the straightforward distance-minimizing approach cannot observe all parameters, and additionally is subject to bias in the presence of noise. In this article, we first discuss these issues and then develop probabilistic models for cylinder, torus, cone, and an extruded curve by adapting related approaches including Random Hypersurface Models, partial likelihood, and symmetric shape models. In experiments with simulated data, we show that these models yield unbiased estimators for all parameters even in the presence of high noise. |
Year | DOI | Venue |
|---|---|---|
2015 | 10.1109/SDF.2015.7347698 | 2015 Sensor Data Fusion: Trends, Solutions, Applications (SDF) |
Keywords | Field | DocType |
symmetric shape models,partial likelihood,random hypersurface models,extruded curve,cone,torus,cylinder,probabilistic models,distance-minimizing approach,noisy point cloud measurements,transformed plane curves,3D objects,recursive Bayesian shape estimation,recursive Bayesian pose estimation | Noise measurement,Pattern recognition,Cylinder,Algorithm,Recursive Bayesian estimation,Torus,Artificial intelligence,Plane curve,Probabilistic logic,Point cloud,Mathematics,Estimator | Conference |
Citations | PageRank | References |
3 | 0.41 | 11 |
Authors | ||
5 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Florian Faion | 1 | 74 | 7.95 |
| Antonio Zea | 2 | 41 | 5.25 |
| Jannik Steinbring | 3 | 39 | 4.20 |
| Marcus Baum | 4 | 285 | 32.99 |
| Uwe D. Hanebeck | 5 | 944 | 133.52 |