Model-based tracking using a real-time laser rangefinder

William Cheung; Peter Letts; Gerhard Roth

doi:10.1117/12.164966

29 November 1993 Model-based tracking using a real-time laser rangefinder

William Cheung, Peter Letts, Gerhard Roth

Proceedings Volume 2063, Vision, Sensors, and Control for Automated Manufacturing Systems; (1993) https://doi.org/10.1117/12.164966
Event: Optical Tools for Manufacturing and Advanced Automation, 1993, Boston, MA, United States

Abstract

This paper discusses the problem of tracking a geometric object using data from a real-time laser rangefinder. Because of the volume of data we choose to preprocess each range image to find the edge points. Then 3D lines and circles are extracted from these edge points. By matching these extracted curves to the model of each object we are able to compute the object pose, that is its position and orientation. Some examples are given of the operation of these algorithms using simulated range data.

Citation Download Citation

William Cheung, Peter Letts, and Gerhard Roth "Model-based tracking using a real-time laser rangefinder", Proc. SPIE 2063, Vision, Sensors, and Control for Automated Manufacturing Systems, (29 November 1993); https://doi.org/10.1117/12.164966

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