DLR - Institut für Robotik und Mechatronik

Tracking and Servoing

Texture-Based Tracking of Rigid Body Motion in 6-DoF

When a rigid object moves in 3D space relative to a camera, it is often interesting to know how its relative pose changes in its full 6 degrees of freedom (DoF). The problem of 6DoF tracking arises in the context of numerous applications within and beyond robotics, such as manipulation of moving objects, navigation of a mobile robot or vehicle, or pose estimation of a handheld sensing device.

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	Texture-Based Tracking under Specular Reflections Smooth surfaces, as polished, coated, or wet surfaces, produce specular reflections under unfavourable lighting conditions. Image processing algorithms, such as any correlation-based computation, may completely fail under specular reflection.
Vollständiger Artikel

Texture-Based Tracking of Rigid Body Motion in 6-DoF

Texture-Based Tracking under Specular Reflections