Summarizing Image/Surface Registration for 6DOF Robot/Camera Pose Estimation
Summarizing Image/Surface Registration for 6DOF Robot/Camera Pose Estimation
复制标题
总结 6DOF 机器人/相机姿态估计的图像/表面配准
DOI：
10.1007/978-3-540-72849-8_14
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发表时间：
2007
期刊：
影响因子：
--
通讯作者：
J. Salvi
中科院分区：
文献类型：
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作者：
Elisabet Batlle;Carles Matabosch;J. Salvi
近年来，6 自由度 (DOF) 姿态估计和 3D 映射不仅在机器人领域的机器人导航等应用中变得越来越重要，而且在用于注册建筑物和雕像等大型表面的计算机视觉中也变得越来越重要。在这两种情况下，必须估计机器人/摄像机的位置和方向，以便用于进一步对齐 3D 地图/表面。尽管这些技术根据应用程序的不同而略有不同，但两个社区都倾向于通过不同的方法来解决类似的问题。本文对对该领域感兴趣的科学家提供了指南，因为对所调查的技术进行了比较，指出了它们的优缺点及其潜在应用。
In recent years, 6 Degrees Of Freedom (DOF) Pose Estimation and 3D Mapping is becoming more important not only in the robotics community for applications such as robot navigation but also in computer vision for the registration of large surfaces such as buildings and statues. In both situations, the robot/camera position and orientation must be estimated in order to be used for further alignment of the 3D map/surface. Although the techniques differ slightly depending on the application, both communities tend to solve similar problems by means of different approaches. This article is a guide for any scientist interested in the field since the surveyed techniques have been compared pointing out their pros and cons and their potential applications.