PARTIAL VIEWS MATCHING USING A METHOD BASED ON PRINCIPAL COMPONENTS

Santiago Salamanca Miño, Carlos Cerrada Somolinos, Antonio Adán Oliver, Miguel Adán Oliver

Abstract

This paper presents a method to estimate the pose (position and orientation) associated to the range data of an object partial view with respect to the complete object reference system. A database storing the principal components of the different partial views of an object, which are generated virtually, is created in advance in order to make a comparison between the values computed in a real view and the stored values. It allows obtaining a first approximation to the searched pose transformation, which will be afterwards refined by applying the Iterative Closest Point (ICP) algorithm. The proposed method obtains very good pose estimations achieving very low failure rate, even in the case of the existence of occlusions. The paper describes the method and demonstrates these conclusions by presenting a set of experimental results obtained with real range data.

References

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Paper Citation


in Harvard Style

Salamanca Miño S., Cerrada Somolinos C., Adán Oliver A. and Adán Oliver M. (2004). PARTIAL VIEWS MATCHING USING A METHOD BASED ON PRINCIPAL COMPONENTS . In Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 972-8865-12-0, pages 3-10. DOI: 10.5220/0001137200030010


in Bibtex Style

@conference{icinco04,
author={Santiago Salamanca Miño and Carlos Cerrada Somolinos and Antonio Adán Oliver and Miguel Adán Oliver},
title={PARTIAL VIEWS MATCHING USING A METHOD BASED ON PRINCIPAL COMPONENTS},
booktitle={Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2004},
pages={3-10},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001137200030010},
isbn={972-8865-12-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - PARTIAL VIEWS MATCHING USING A METHOD BASED ON PRINCIPAL COMPONENTS
SN - 972-8865-12-0
AU - Salamanca Miño S.
AU - Cerrada Somolinos C.
AU - Adán Oliver A.
AU - Adán Oliver M.
PY - 2004
SP - 3
EP - 10
DO - 10.5220/0001137200030010