2DOF POSE ESTIMATION OF TEXTURED OBJECTS WITH ANGULAR COLOR COOCCURRENCE HISTOGRAMS

Thomas Nierobisch, Frank Hoffmann

Abstract

Robust techniques for pose estimation are essential for robotic manipulation and grasping tasks. We present a novel approach for 2DOF pose estimation based on angular color cooccurrence histograms and its application to object grasping. The representation of objects is based on pixel cooccurrence histograms extracted from the color segmented image. The confidence in the pose estimate is predicted by a probabilistic neural network based on the disambiguity of the underlying matchvalue curve. In an experimental evaluation the estimated pose is used as input to the open loop control of a robotic grasp. For more complex manipulation tasks the 2DOF estimate provides the basis for the initialization of a 6DOF geometric based object tracking in real-time.

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Paper Citation


in Harvard Style

Nierobisch T. and Hoffmann F. (2007). 2DOF POSE ESTIMATION OF TEXTURED OBJECTS WITH ANGULAR COLOR COOCCURRENCE HISTOGRAMS . In Proceedings of the Second International Conference on Computer Vision Theory and Applications - Volume 2: VISAPP, ISBN 978-972-8865-74-0, pages 52-59. DOI: 10.5220/0002053000520059


in Bibtex Style

@conference{visapp07,
author={Thomas Nierobisch and Frank Hoffmann},
title={2DOF POSE ESTIMATION OF TEXTURED OBJECTS WITH ANGULAR COLOR COOCCURRENCE HISTOGRAMS},
booktitle={Proceedings of the Second International Conference on Computer Vision Theory and Applications - Volume 2: VISAPP,},
year={2007},
pages={52-59},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002053000520059},
isbn={978-972-8865-74-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Second International Conference on Computer Vision Theory and Applications - Volume 2: VISAPP,
TI - 2DOF POSE ESTIMATION OF TEXTURED OBJECTS WITH ANGULAR COLOR COOCCURRENCE HISTOGRAMS
SN - 978-972-8865-74-0
AU - Nierobisch T.
AU - Hoffmann F.
PY - 2007
SP - 52
EP - 59
DO - 10.5220/0002053000520059