6D Pose Estimation from Point Cloud Using an Improved Point Pair Features Method
2021 7th International Conference on Control, Automation and Robotics (ICCAR)（2021）
摘要
The Point Pair Features (PPF) method has been shown to be effective for pose estimation under clutter and occlusion. Our improved method mainly includes: (1) an approach for solving normal orientations of closed geometries based on Odd-even Rule; (2) an efficient downsampling approach by dividing a voxel grid into equivalent angle cells; (3) a verification step based on fitting points. The method ...
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关键词
Geometry,Computer vision,Three-dimensional displays,Automation,Pose estimation,Fitting,Clutter
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