Dynamic range data acquisition and pose estimation for 3-D regular objects
Janusz A. Marszalec, Tapio A. Heikkila, Markku Järviluoma · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 1991
The paper deals with dynamic acquisition of range data using a multiple proximity sensor system located in a robot gripper for the purpose of pose estimation of 3-D regular objects. A sensor structure is proposed and an algorithm of dynamic sensing presented. Pose estimation of regular objects using Newton''s method and cylindrical objects is described and results of experiments are presented and discussed. 1.