Robust 3D object registration without explicit correspondence using geometric integration
3D vision-guided manipulation of components is a key problem of industrial machine vision. In this paper, we focus on the localization and pose estimation of known industrial objects from 3D measurements delivered by a scanning sensor. Since local information extracted from these measurements is unr...
Gespeichert in:
| Hauptverfasser: | , |
|---|---|
| Dokumenttyp: | Article (Journal) |
| Sprache: | Englisch |
| Veröffentlicht: |
2010
|
| In: |
Machine vision and applications
Year: 2010, Jahrgang: 21, Heft: 5, Pages: 601-611 |
| ISSN: | 1432-1769 |
| DOI: | 10.1007/s00138-009-0227-6 |
| Online-Zugang: | Verlag, lizenzpflichtig, Volltext: https://doi.org/10.1007/s00138-009-0227-6
|
| Verfasserangaben: | Dirk Breitenreicher, Christoph Schnörr |
MARC
| LEADER | 00000caa a2200000 c 4500 | ||
|---|---|---|---|
| 001 | 1837350183 | ||
| 003 | DE-627 | ||
| 005 | 20230710155400.0 | ||
| 007 | cr uuu---uuuuu | ||
| 008 | 230224s2010 xx |||||o 00| ||eng c | ||
| 024 | 7 | |a 10.1007/s00138-009-0227-6 |2 doi | |
| 035 | |a (DE-627)1837350183 | ||
| 035 | |a (DE-599)KXP1837350183 | ||
| 035 | |a (OCoLC)1389821537 | ||
| 040 | |a DE-627 |b ger |c DE-627 |e rda | ||
| 041 | |a eng | ||
| 084 | |a 28 |2 sdnb | ||
| 100 | 1 | |a Breitenreicher, Dirk |e VerfasserIn |0 (DE-588)14116123X |0 (DE-627)703898159 |0 (DE-576)322492564 |4 aut | |
| 245 | 1 | 0 | |a Robust 3D object registration without explicit correspondence using geometric integration |c Dirk Breitenreicher, Christoph Schnörr |
| 264 | 1 | |c 2010 | |
| 300 | |a 11 | ||
| 336 | |a Text |b txt |2 rdacontent | ||
| 337 | |a Computermedien |b c |2 rdamedia | ||
| 338 | |a Online-Ressource |b cr |2 rdacarrier | ||
| 500 | |a Erstmals am 16. September 2009 veröffentlicht | ||
| 500 | |a Gesehen am 24.02.2023 | ||
| 520 | |a 3D vision-guided manipulation of components is a key problem of industrial machine vision. In this paper, we focus on the localization and pose estimation of known industrial objects from 3D measurements delivered by a scanning sensor. Since local information extracted from these measurements is unreliable due to noise, spatially unstructured measurements and missing detections, we present a novel objective function for robust registration without using correspondence information, based on the likelihood of model points. Furthermore, by extending Runge-Kutta-type integration directly to the group of Euclidean transformation, we infer object pose by computing the gradient flow directly on the related manifold. Comparison of our approach to existing state of the art methods shows that our method is more robust against poor initializations while having comparable run-time performance. | ||
| 650 | 4 | |a Geometric integration | |
| 650 | 4 | |a Iterative closest point (ICP) | |
| 650 | 4 | |a Kernel-based similarity measures | |
| 650 | 4 | |a Registration | |
| 700 | 1 | |a Schnörr, Christoph |e VerfasserIn |0 (DE-588)1023033348 |0 (DE-627)717351017 |0 (DE-576)168404540 |4 aut | |
| 773 | 0 | 8 | |i Enthalten in |t Machine vision and applications |d Berlin : Springer, 1988 |g 21(2010), 5, special issue, Seite 601-611 |h Online-Ressource |w (DE-627)300186312 |w (DE-600)1481698-2 |w (DE-576)080160492 |x 1432-1769 |7 nnas |a Robust 3D object registration without explicit correspondence using geometric integration |
| 773 | 1 | 8 | |g volume:21 |g year:2010 |g number:5 |g supplement:special issue |g pages:601-611 |g extent:11 |a Robust 3D object registration without explicit correspondence using geometric integration |
| 856 | 4 | 0 | |u https://doi.org/10.1007/s00138-009-0227-6 |x Verlag |x Resolving-System |z lizenzpflichtig |3 Volltext |
| 951 | |a AR | ||
| 992 | |a 20230224 | ||
| 993 | |a Article | ||
| 994 | |a 2010 | ||
| 998 | |g 1023033348 |a Schnörr, Christoph |m 1023033348:Schnörr, Christoph |d 700000 |d 720000 |e 700000PS1023033348 |e 720000PS1023033348 |k 0/700000/ |k 1/700000/720000/ |p 2 |y j | ||
| 998 | |g 14116123X |a Breitenreicher, Dirk |m 14116123X:Breitenreicher, Dirk |d 110000 |e 110000PB14116123X |k 0/110000/ |p 1 |x j | ||
| 999 | |a KXP-PPN1837350183 |e 4275626974 | ||
| BIB | |a Y | ||
| SER | |a journal | ||
| JSO | |a {"name":{"displayForm":["Dirk Breitenreicher, Christoph Schnörr"]},"physDesc":[{"extent":"11 S."}],"recId":"1837350183","relHost":[{"id":{"zdb":["1481698-2"],"eki":["300186312"],"issn":["1432-1769"]},"physDesc":[{"extent":"Online-Ressource"}],"recId":"300186312","pubHistory":["1.1988 -"],"part":{"issue":"5","pages":"601-611","text":"21(2010), 5, special issue, Seite 601-611","year":"2010","volume":"21","extent":"11"},"note":["Gesehen am 01.11.05"],"type":{"bibl":"periodical","media":"Online-Ressource"},"origin":[{"dateIssuedKey":"1988","publisher":"Springer","publisherPlace":"Berlin ; Heidelberg","dateIssuedDisp":"1988-"}],"title":[{"title":"Machine vision and applications","title_sort":"Machine vision and applications","subtitle":"an international journal"}],"language":["eng"],"disp":"Robust 3D object registration without explicit correspondence using geometric integrationMachine vision and applications"}],"id":{"eki":["1837350183"],"doi":["10.1007/s00138-009-0227-6"]},"person":[{"given":"Dirk","role":"aut","family":"Breitenreicher","display":"Breitenreicher, Dirk"},{"family":"Schnörr","display":"Schnörr, Christoph","role":"aut","given":"Christoph"}],"title":[{"title_sort":"Robust 3D object registration without explicit correspondence using geometric integration","title":"Robust 3D object registration without explicit correspondence using geometric integration"}],"note":["Erstmals am 16. September 2009 veröffentlicht","Gesehen am 24.02.2023"],"origin":[{"dateIssuedDisp":"2010","dateIssuedKey":"2010"}],"type":{"media":"Online-Ressource","bibl":"article-journal"},"language":["eng"]} | ||
| SRT | |a BREITENREIROBUST3DOB2010 | ||