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3DIM
2007
IEEE

Automatic Pose Estimation for Range Images on the GPU

9 years 11 months ago
Automatic Pose Estimation for Range Images on the GPU
Object pose (location and orientation) estimation is a common task in many computer vision applications. Although many methods exist, most algorithms need manual initialization and lack robustness to illumination variation, appearance change, and partial occlusions. We propose a fast method for automatic pose estimation without manual initialization based on shape matching of a 3D model to a range image of the scene. We developed a new error function to compare the input range image to pre-computed range maps of the 3D model. We use the tremendous dataparallel processing performance of modern graphics hardware to evaluate and minimize the error function on many range images in parallel. Our algorithm is simple and accurately estimates the pose of partially occluded objects in cluttered scenes in about one second.
Marcel Germann, Michael D. Breitenstein, In Kyu Pa
Added 10 Dec 2009
Updated 14 Dec 2009
Type Conference
Year 2007
Where 3DIM
Authors Marcel Germann, Michael D. Breitenstein, In Kyu Park, Hanspeter Pfister
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