Automatic Pose Estimation for Range Images on the GPU

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Automatic Pose Estimation for Range Images on the GPU

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dc.contributor.author Germann, Marcel
dc.contributor.author Breitenstein, Michael D.
dc.contributor.author Park, In Hyun
dc.contributor.author Pfister, Hanspeter
dc.date.accessioned 2011-02-15T20:41:28Z
dc.date.issued 2007
dc.identifier.citation Germann, Marcel, Michael D. Breitenstein, In Kyu Park, and Hanspeter Pfister. 2007. Automatic pose estimation for range images on the GPU. In Proceedings: Sixth International Conference on 3-D Digital Imaging and Modeling, 2007. 3DIM '07: August 21-23, 2007, Montreal, QC, ed. G. Godin, et al., 81-90. Piscataway, N.J.: IEEE Xplore. en_US
dc.identifier.isbn 0-7695-2939-4 en_US
dc.identifier.issn 1550-6185 en_US
dc.identifier.uri http://nrs.harvard.edu/urn-3:HUL.InstRepos:4726185
dc.description.abstract 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 data-parallel 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. en_US
dc.description.sponsorship Engineering and Applied Sciences en_US
dc.language.iso en_US en_US
dc.publisher Institute of Electrical and Electronics Engineers en_US
dc.relation.isversionof doi:10.1109/3DIM.2007.13 en_US
dc.relation.hasversion http://gvi.seas.harvard.edu/sites/all/files/Germann07Automatic.pdf en_US
dash.license META_ONLY
dc.title Automatic Pose Estimation for Range Images on the GPU en_US
dc.type Monograph or Book en_US
dc.description.version Accepted Manuscript en_US
dc.relation.journal Proceedings: International Conference on 3-D Digital Imaging and Modeling. en_US
dash.depositing.author Pfister, Hanspeter
dash.embargo.until 10000-01-01

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