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Open AccessArticle

Accurate Object Pose Estimation Using Depth Only

Graduate School of Information Sciences, Tohoku University, Aramaki Aza Aoba 6-6-01, Aoba-Ku, Sendai 980-8579, Japan
Author to whom correspondence should be addressed.
Sensors 2018, 18(4), 1045;
Received: 14 February 2018 / Revised: 7 March 2018 / Accepted: 28 March 2018 / Published: 30 March 2018
(This article belongs to the Special Issue Depth Sensors and 3D Vision)
Object recognition and pose estimation is an important task in computer vision. A pose estimation algorithm using only depth information is proposed in this paper. Foreground and background points are distinguished based on their relative positions with boundaries. Model templates are selected using synthetic scenes to make up for the point pair feature algorithm. An accurate and fast pose verification method is introduced to select result poses from thousands of poses. Our algorithm is evaluated against a large number of scenes and proved to be more accurate than algorithms using both color information and depth information. View Full-Text
Keywords: pose estimation; point pair feature; point cloud pose estimation; point pair feature; point cloud
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Li, M.; Hashimoto, K. Accurate Object Pose Estimation Using Depth Only. Sensors 2018, 18, 1045.

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