Real-time Robust Six Degrees of Freedom Object Pose Estimation with a Time-of-flight Camera and a Color Camera

Kaipeng Sun; Robin Heß; Zhihao Xu; Klaus Schilling

doi:10.1002/rob.21519

Pose Estimation of Primitive-Shaped Objects from a Depth Image Using Superquadric Representation

Applied Sciences ◽

10.3390/app10165442 ◽

2020 ◽

Vol 10 (16) ◽

pp. 5442

Author(s):

Ryo Hachiuma ◽

Hideo Saito

Keyword(s):

Pose Estimation ◽

Degrees Of Freedom ◽

Shape Representation ◽

Estimation Method ◽

Depth Image ◽

Six Degrees Of Freedom ◽

Depth Images ◽

Object Pose Estimation ◽

Primitive Shape ◽

Conventional Methods

This paper presents a method for estimating the six Degrees of Freedom (6DoF) pose of texture-less primitive-shaped objects from depth images. As the conventional methods for object pose estimation require rich texture or geometric features to the target objects, these methods are not suitable for texture-less and geometrically simple shaped objects. In order to estimate the pose of the primitive-shaped object, the parameters that represent primitive shapes are estimated. However, these methods explicitly limit the number of types of primitive shapes that can be estimated. We employ superquadrics as a primitive shape representation that can represent various types of primitive shapes with only a few parameters. In order to estimate the superquadric parameters of primitive-shaped objects, the point cloud of the object must be segmented from a depth image. It is known that the parameter estimation is sensitive to outliers, which are caused by the miss-segmentation of the depth image. Therefore, we propose a novel estimation method for superquadric parameters that are robust to outliers. In the experiment, we constructed a dataset in which the person grasps and moves the primitive-shaped objects. The experimental results show that our estimation method outperformed three conventional methods and the baseline method.

Download Full-text

Real-Time Model-Based Rigid Object Pose Estimation and Tracking Combining Dense and Sparse Visual Cues

2013 IEEE Conference on Computer Vision and Pattern Recognition ◽

10.1109/cvpr.2013.304 ◽

2013 ◽

Cited By ~ 35

Author(s):

Karl Pauwels ◽

Leonardo Rubio ◽

Javier Diaz ◽

Eduardo Ros

Keyword(s):

Real Time ◽

Pose Estimation ◽

Visual Cues ◽

Time Model ◽

Rigid Object ◽

Model Based ◽

Object Pose Estimation

Download Full-text

CDPN: Coordinates-Based Disentangled Pose Network for Real-Time RGB-Based 6-DoF Object Pose Estimation

2019 IEEE/CVF International Conference on Computer Vision (ICCV) ◽

10.1109/iccv.2019.00777 ◽

2019 ◽

Cited By ~ 14

Author(s):

Zhigang Li ◽

Gu Wang ◽

Xiangyang Ji

Keyword(s):

Real Time ◽

Pose Estimation ◽

Object Pose Estimation

Download Full-text

Pose Estimation of a Six Degrees of Freedom Pipe-Bender using a 3D-Visual Measurement System of High Accuracy

IFToMM International Symposium on Robotics and Mechatronics ◽

10.3850/978-981-07-7744-9_044 ◽

2013 ◽

Author(s):

E. Castillo-Castaneda

Keyword(s):

Pose Estimation ◽

Measurement System ◽

Degrees Of Freedom ◽

High Accuracy ◽

Visual Measurement ◽

Six Degrees Of Freedom

Download Full-text

Ultraprecision Real-Time Displacements Calculation Algorithm for the Grating Interferometer System

Sensors ◽

10.3390/s19102409 ◽

2019 ◽

Vol 19 (10) ◽

pp. 2409 ◽

Cited By ~ 1

Author(s):

Weinan Ye ◽

Ming Zhang ◽

Yu Zhu ◽

Leijie Wang ◽

Jinchun Hu ◽

...

Keyword(s):

Real Time ◽

Affine Transformation ◽

Degrees Of Freedom ◽

Diffraction Spot ◽

Calculation Algorithm ◽

Six Degrees Of Freedom ◽

Time Calculation ◽

Interference Signals ◽

Grating Interferometer ◽

Optical Paths

Grating interferometry is an environmentally stable displacement measurement technique that has significant potential for identifying the position of the wafer stage. A fast and precise algorithm is required for real-time calculation of six degrees-of-freedom (DOF) displacement using phase shifts of interference signals. Based on affine transformation, we analyze diffraction spot displacement and changes in the internal and external effective optical paths of the grating interferometer caused by the displacement of the wafer stage (DOWS); then, we establish a phase shift-DOWS model. To solve the DOWS in real time, we present a polynomial approximation algorithm that uses the frequency domain characteristics of nonlinearities to achieve model reduction. The presented algorithm is verified by experiment and ZEMAX simulation.

Download Full-text

Comparisons of Turning Abilities of Submarine With Different Rudder Configurations

Volume 7A: Ocean Engineering ◽

10.1115/omae2018-77983 ◽

2018 ◽

Author(s):

Dakui Feng ◽

Xuanshu Chen ◽

Hao Liu ◽

Zhiguo Zhang ◽

Xianzhou Wang

Keyword(s):

Real Time ◽

Degrees Of Freedom ◽

Control Device ◽

Body Motion ◽

The Real ◽

Six Degrees Of Freedom ◽

Overlapping Grids ◽

Free Running ◽

Turning Radius ◽

Time Changes

Submarine is usually equipped with two different control device arrangements, namely a cruciform and a X rudder configuration. In this paper, numerical simulations of the DARPA Suboff submarine and its retrofitted submarine with a X rudder configuration are presented. Turning simulations in model scale were studied to compare the turning abilities of the two different control device arrangements. The computations were performed with a house viscous CFD solver based on the conservative finite difference method. In the solver, RANS equation are solved coupled with six degrees of freedom (6DOF) solid body motion equations of the submarine in real time. The structured dynamic overlapping grids were used to simulate the real-time changes of the attitude of the submarine and the rotation of the rudder. The volume force method was used to replace the real propeller to realize the self-propelled movement of submarine. In the free running maneuvering simulations, the submarines move at the same initial velocity and rudder angle, restricted to the horizontal plane with four degrees of freedom (4DOF). Comparisons of the trajectory and kinematic parameters including relative turning radius and turning period between the two cases were presented in this paper. The results show that, compared with the cruciform rudder configuration, the X rudder configuration has obvious advantages for submarine in the turning abilities.

Download Full-text

Testing of a MEMS Dynamic Inclinometer Using the Stewart Platform

Sensors ◽

10.3390/s19194233 ◽

2019 ◽

Vol 19 (19) ◽

pp. 4233 ◽

Cited By ~ 1

Author(s):

Zhihua Liu ◽

Chenguang Cai ◽

Ming Yang ◽

Ying Zhang

Keyword(s):

Mechanical System ◽

Real Time ◽

Degrees Of Freedom ◽

Cross Coupling ◽

Micro Electro Mechanical System ◽

Stewart Platform ◽

Forward Kinematics ◽

Six Degrees Of Freedom ◽

Position And Orientation ◽

The Cross

The micro-electro-mechanical system (MEMS) dynamic inclinometer integrates a tri-axis gyroscope and a tri-axis accelerometer for real-time tilt measurement. The Stewart platform has the ability to generate six degrees of freedom of spatial orbits. The method of applying spatial orbits to the testing of MEMS inclinometers is investigated. Inverse and forward kinematics are analyzed for controlling and measuring the position and orientation of the Stewart platform. The Stewart platform is controlled to generate a conical motion, based on which the sensitivities of the gyroscope, accelerometer, and tilt sensing are determined. Spatial positional orbits are also generated in order to obtain the tilt angles caused by the cross-coupling influence. The experiment is conducted to show that the tested amplitude frequency deviations of the gyroscope and tilt sensing sensitivities between the Stewart platform and the traditional rotator are less than 0.2 dB and 0.1 dB, respectively.

Download Full-text

Can we Localize an AV from a Single Image? Deep-Geometric 6 DoF Localization in Topo-metric Maps

Journal of Autonomous Vehicles and Systems ◽

10.1115/1.4052604 ◽

2021 ◽

pp. 1-13

Author(s):

Punarjay Chakravarty ◽

Tom Roussel ◽

Gaurav Pandey ◽

Tinne Tuytelaars

Keyword(s):

Pose Estimation ◽

Autonomous Vehicles ◽

Hybrid Algorithm ◽

Degrees Of Freedom ◽

Single Camera ◽

Single Image ◽

Six Degrees Of Freedom ◽

Localization Algorithms ◽

Mapping Process ◽

Set Of Points

Abstract We describe a Deep-Geometric Localizer that is able to estimate the full six degrees-of-freedom (DoF) global pose of the camera from a single image in a previously mapped environment. Our map is a topo-metric one, with discrete topological nodes whose 6DOF poses are known. Each topo-node in our map also comprises of a set of points, whose 2D features and 3D locations are stored as part of the mapping process. For the mapping phase, we utilise a stereo camera and a regular stereo visual SLAM pipeline. During the localization phase, we take a single camera image, localize it to a topological node using Deep Learning, and use a geometric algorithm (PnP) on the matched 2D features (and their 3D positions in the topo map) to determine the full 6DOF globally consistent pose of the camera. Our method divorces the mapping and the localization algorithms and sensors (stereo and mono), and allows accurate 6DOF pose estimation in a previously mapped environment using a single camera. With results in simulated and real environments, our hybrid algorithm is particularly useful for autonomous vehicles (AVs) and shuttles that might repeatedly traverse the same route.

Download Full-text

Real-Time Estimation for Roll Angle of Spinning Projectile Based on Phase-Locked Loop on Signals from Single-Axis Magnetometer

Sensors ◽

10.3390/s19040839 ◽

2019 ◽

Vol 19 (4) ◽

pp. 839 ◽

Cited By ~ 1

Author(s):

Zhaowei Deng ◽

Qiang Shen ◽

Zilong Deng ◽

Jisi Cheng

Keyword(s):

Real Time ◽

Degrees Of Freedom ◽

Phase Error ◽

Time Estimation ◽

Phase Locked Loop ◽

Roll Angle ◽

Six Degrees Of Freedom ◽

Blind Area ◽

Real Time Estimation ◽

Spinning Projectile

As roll angle measurement is essential for two-dimensional course correction fuze (2-D CCF) technology, a real-time estimation of roll angle of spinning projectile by single-axis magnetometer is studied. Based on the measurement model, a second-order frequency-locked loop (FLL)-assisted third-order phase-locked loop (PLL) is designed to obtain rolling information from magnetic signals, which is less dependent on the amplitude and able to reduce effect from geomagnetic blind area. Method of parameters optimization of tracking loop is discussed in the circumstance of different speed and it is verified by six degrees of freedom (six degrees of freedom (DoF)) trajectory. Also, the measurement error is analyzed to improve the accuracy of designed system. At last, experiments on rotary table are carried out to validate the proposed method indicating the designed system is able to track both phase and speed accurately and stably. The standard deviation (SD) of phase error is no more than 3°.

Download Full-text