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A probabilistic framework for stereo-vision based 3D object search with 6D pose estimation

Ma, Jeremy and Burdick, Joel W. (2010) A probabilistic framework for stereo-vision based 3D object search with 6D pose estimation. In: 2010 IEEE International Conference on Robotics and Automation. IEEE , Piscataway, NJ, pp. 2036-2042. ISBN 978-1-4244-5038-1. https://resolver.caltech.edu/CaltechAUTHORS:20170314-164359123

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Abstract

This paper presents a method whereby an autonomous mobile robot can search for a 3-dimensional (3D) object using an on-board stereo camera sensor mounted on a pan-tilt head. Search efficiency is realized by the combination of a coarse-scale global search coupled with a fine-scale local search. A grid-based probability map is initially generated using the coarse search, which is based on the color histogram of the desired object. Peaks in the probability map are visited in sequence, where a local (refined) search method based on 3D SIFT features is applied to establish or reject the existence of the desired object, and to update the probability map using Bayesian recursion methods. Once found, the 6D object pose is also estimated. Obstacle avoidance during search can be naturally integrated into the method. Experimental results obtained from the use of this method on a mobile robot are presented to illustrate and validate the approach, confirming that the search strategy can be carried out with modest computation.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
http://dx.doi.org/10.1109/ROBOT.2010.5509650DOIArticle
http://ieeexplore.ieee.org/document/5509650/PublisherArticle
Additional Information:© 2010 IEEE.
Record Number:CaltechAUTHORS:20170314-164359123
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20170314-164359123
Official Citation:J. Ma and J. W. Burdick, "A probabilistic framework for stereo-vision based 3D object search with 6D pose estimation," 2010 IEEE International Conference on Robotics and Automation, Anchorage, AK, 2010, pp. 2036-2042. doi: 10.1109/ROBOT.2010.5509650
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:75122
Collection:CaltechAUTHORS
Deposited By: Kristin Buxton
Deposited On:16 Mar 2017 17:29
Last Modified:03 Oct 2019 16:46

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