Real-time 3D Pose Estimation Using Photogrammetry and Laser Based Geometrical Target Tracking for Autonomous Operation in Space

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TypeArticle
Proceedings titleProceedings of the 5th Conference on Optical 3-D Measurement Techniques
Conference5th Conference on Optical 3-D Measurement Techniques, October 1-3, 2001., Vienna, Austria
Subjecttracking; vision system; object tracking; pose estimation; sun interference; laser scanner
AbstractIn this paper, we show that a 3D laser scanner tracking system can be efficiently used in a projective mode similar to photogrammetry-based methods. The best of both laser ranging and photogrammetry can be combined to increase the accuracy and reliability of a 6 DOF pose estimation/tracking system. Geometrical tracking and object pose evaluation using the laser scanner projective coordinate system becomes equivalent to a video camera/photogrammetry based approach with the added feature of measuring the focus distance of the image point and being able to track geometrical features as well as targets. Tracking and ranging from either the laser scanner XYZ coordinates or the photogrammetry projective model can be used.
Publication date
LanguageEnglish
AffiliationNRC Institute for Information Technology; National Research Council Canada
Peer reviewedNo
NRC number44877
NPARC number8913938
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Record identifiere95c885b-80e9-4a47-9384-acabb9f26faf
Record created2009-04-22
Record modified2016-05-09
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