Pose Estimation using Local Structure-Specific Shape and Appearance Context

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Abstract

We address the problem of estimating the alignment pose between two models using structure-specific local descriptors. Our descriptors are generated using a combination of 2D image data and 3D contextual shape data, resulting in a set of semi-local descriptors containing rich appearance and shape information for both edge and texture structures. This is achieved by defining feature space relations which describe the neighborhood of a descriptor. By quantitative evaluations, we show that our descriptors provide high discriminative power compared to state of the art approaches. In addition, we show how to utilize this for the estimation of the alignment pose between two point sets. We present experiments both in controlled and real-life scenarios to validate our approach.
Original languageEnglish
Title of host publicationIEEE International Conference on Robotics and Automation (ICRA)
Number of pages8
PublisherIEEE
Publication date2013
Pages2080-2087
ISBN (Print)978-1-4673-5641-1
DOIs
Publication statusPublished - 2013
Event2013 IEEE International Conference on Robotics and Automation: Anthropomatics - Technologies for Humans - Kongresszentrum Karlsruhe, Karlsruhe, Germany
Duration: 6. May 201310. May 2013

Conference

Conference2013 IEEE International Conference on Robotics and Automation
LocationKongresszentrum Karlsruhe
CountryGermany
CityKarlsruhe
Period06/05/201310/05/2013

Fingerprint

Model structures
Textures
Experiments

Cite this

Buch, A. G., Kraft, D., Kämäräinen, J-K., Petersen, H. G., & Krüger, N. (2013). Pose Estimation using Local Structure-Specific Shape and Appearance Context. In IEEE International Conference on Robotics and Automation (ICRA) (pp. 2080-2087). IEEE. https://doi.org/10.1109/ICRA.2013.6630856
Buch, Anders Glent ; Kraft, Dirk ; Kämäräinen, Joni-Kristian ; Petersen, Henrik Gordon ; Krüger, Norbert. / Pose Estimation using Local Structure-Specific Shape and Appearance Context. IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2013. pp. 2080-2087
@inproceedings{be8f76634ced43adac3afc877e1c744b,
title = "Pose Estimation using Local Structure-Specific Shape and Appearance Context",
abstract = "We address the problem of estimating the alignment pose between two models using structure-specific local descriptors. Our descriptors are generated using a combination of 2D image data and 3D contextual shape data, resulting in a set of semi-local descriptors containing rich appearance and shape information for both edge and texture structures. This is achieved by defining feature space relations which describe the neighborhood of a descriptor. By quantitative evaluations, we show that our descriptors provide high discriminative power compared to state of the art approaches. In addition, we show how to utilize this for the estimation of the alignment pose between two point sets. We present experiments both in controlled and real-life scenarios to validate our approach.",
author = "Buch, {Anders Glent} and Dirk Kraft and Joni-Kristian K{\"a}m{\"a}r{\"a}inen and Petersen, {Henrik Gordon} and Norbert Kr{\"u}ger",
year = "2013",
doi = "10.1109/ICRA.2013.6630856",
language = "English",
isbn = "978-1-4673-5641-1",
pages = "2080--2087",
booktitle = "IEEE International Conference on Robotics and Automation (ICRA)",
publisher = "IEEE",
address = "United States",

}

Buch, AG, Kraft, D, Kämäräinen, J-K, Petersen, HG & Krüger, N 2013, Pose Estimation using Local Structure-Specific Shape and Appearance Context. in IEEE International Conference on Robotics and Automation (ICRA). IEEE, pp. 2080-2087, 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, 06/05/2013. https://doi.org/10.1109/ICRA.2013.6630856

Pose Estimation using Local Structure-Specific Shape and Appearance Context. / Buch, Anders Glent; Kraft, Dirk; Kämäräinen, Joni-Kristian; Petersen, Henrik Gordon; Krüger, Norbert.

IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2013. p. 2080-2087.

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

TY - GEN

T1 - Pose Estimation using Local Structure-Specific Shape and Appearance Context

AU - Buch, Anders Glent

AU - Kraft, Dirk

AU - Kämäräinen, Joni-Kristian

AU - Petersen, Henrik Gordon

AU - Krüger, Norbert

PY - 2013

Y1 - 2013

N2 - We address the problem of estimating the alignment pose between two models using structure-specific local descriptors. Our descriptors are generated using a combination of 2D image data and 3D contextual shape data, resulting in a set of semi-local descriptors containing rich appearance and shape information for both edge and texture structures. This is achieved by defining feature space relations which describe the neighborhood of a descriptor. By quantitative evaluations, we show that our descriptors provide high discriminative power compared to state of the art approaches. In addition, we show how to utilize this for the estimation of the alignment pose between two point sets. We present experiments both in controlled and real-life scenarios to validate our approach.

AB - We address the problem of estimating the alignment pose between two models using structure-specific local descriptors. Our descriptors are generated using a combination of 2D image data and 3D contextual shape data, resulting in a set of semi-local descriptors containing rich appearance and shape information for both edge and texture structures. This is achieved by defining feature space relations which describe the neighborhood of a descriptor. By quantitative evaluations, we show that our descriptors provide high discriminative power compared to state of the art approaches. In addition, we show how to utilize this for the estimation of the alignment pose between two point sets. We present experiments both in controlled and real-life scenarios to validate our approach.

U2 - 10.1109/ICRA.2013.6630856

DO - 10.1109/ICRA.2013.6630856

M3 - Article in proceedings

SN - 978-1-4673-5641-1

SP - 2080

EP - 2087

BT - IEEE International Conference on Robotics and Automation (ICRA)

PB - IEEE

ER -

Buch AG, Kraft D, Kämäräinen J-K, Petersen HG, Krüger N. Pose Estimation using Local Structure-Specific Shape and Appearance Context. In IEEE International Conference on Robotics and Automation (ICRA). IEEE. 2013. p. 2080-2087 https://doi.org/10.1109/ICRA.2013.6630856