...
  • 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>Autonomous Robots >Visual-model-based, real-time 3D pose tracking for autonomous navigation: methodology and experiments
【24h】

Visual-model-based, real-time 3D pose tracking for autonomous navigation: methodology and experiments

机译：基于视觉模型的实时3D姿态跟踪，用于自主导航：方法和实验

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

This paper presents a novel 3D-model-based computer-vision method for tracking the full six degree-of-freedom (dof) pose (position and orientation) of a rigid body, in real-time. The methodology has been targeted for autonomous navigation tasks, such as interception of or rendezvous with mobile targets. Tracking an object’s complete six-dof pose makes the proposed algorithm useful even when targets are not restricted to planar motion (e.g., flying or rough-terrain navigation). Tracking is achieved via a combination of textured model projection and optical flow. The main contribution of our work is the novel combination of optical flow with z-buffer depth information that is produced during model projection. This allows us to achieve six-dof tracking with a single camera.
机译：本文提出了一种新颖的基于3D模型的计算机视觉方法，可实时跟踪刚体的完整六个自由度（dof）姿势（位置和方向）。该方法的目标是自主导航任务，例如拦截或集合移动目标。即使目标不限于平面运动（例如，飞行或崎navigation地形导航），跟踪对象完整的六自由度姿势也可以使提出的算法有用。通过纹理模型投影和光流的结合来实现跟踪。我们工作的主要贡献是在模型投影期间将光流与z缓冲区深度信息进行了新颖的结合。这使我们可以使用单个摄像机实现六自由度跟踪。

著录项

  • 来源
    《Autonomous Robots》 |2008年第3期|267-286|共20页
  • 作者

    Hans de Ruiter; Beno Benhabib;

  • 作者单位

    Computer Integrated Manufacturing Laboratory Department of Mechanical and Industrial Engineering University of Toronto 5 King’s College Road Toronto Ontario M5S 3G8 Canada;

    Computer Integrated Manufacturing Laboratory Department of Mechanical and Industrial Engineering University of Toronto 5 King’s College Road Toronto Ontario M5S 3G8 Canada;

  • 收录信息
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    Computer vision; Real-time object tracking; Pose tracking; Mobile-robot navigation;

    机译：计算机视觉;实时对象跟踪;姿势跟踪;移动机器人导航;

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号