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Document type:
Lin, Jianjie; Rickert, Markus; Knoll, Alois 
6D Pose Estimation for Flexible Production with Small Lot Sizes based on CAD Models using Gaussian Process Implicit Surfaces 
We propose a surface-to-surface (S2S) point registration algorithm by exploiting the Gaussian Process Implicit Surfaces for partially overlapping 3D surfaces to estimate the 6D pose transformation. Unlike traditional approaches, that separate the corresponding search and update steps in the inner loop, we formulate the point registration as a nonlinear non-constraints optimization problem which does not explicitly use any corresponding points between two point sets. According to the implicit fun...    »
Book / Congress title:
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 
Publisher address:
Las Vegas, NV, USA