Accurate constrained pose estimation for small objects

  • Authors:

  • V. Eruhimov

  • Affiliations:

  • , Nizhni Novgorod, Russia 603001

  • Venue:
  • Pattern Recognition and Image Analysis
  • Year:
  • 2013

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Abstract

The paper proposes a novel method for accurate pose estimation of small objects. A range sensor is used to find object orientation that constraints a PnP solver. The method finds the global minimum of a cost function (as opposed to traditional PnP algorithms) in closed form. This approach was used to enable robust robotic operation with sub millimeter precision.