Detection and estimation of features for estimation of position
Klas Nordberg, Robert Söderberg · 2004
The paper describes a method for extracting point features from an image, corresponding to corners and crossings of lines. The method is based on a fourth order tensor representation which can describe the parameters of a local pair of line segments. By considering the rank of the tensor, it is possible to find points which correspond to corners, crossings or junctions. These points can then be further analyzed to provide detailed information about the configuration of the segments. The proposed method is intended for features which can be used for estimation of position and pose of 3D objects, e.g., for the purpose of grasping.