Real-time 3D Pose Estimation Using Photogrammetry and Laser Based Geometrical Target Tracking for Autonomous Operation
نویسنده
چکیده
Permission is granted to quote short excerpts and to reproduce figures and tables from this report, provided that the source of such material is fully acknowledged. Abstract. In 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.
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