Detry, R., Pugeault, N. and Piater, J. (2008) Probabilistic pose recovery using learned hierarchical object models. In: Caputo, B. and Vincze, M. (eds.) Cognitive Vision: 4th International Workshop, ICVW 2008, Santorini, Greece, May 12, 2008, Revised Selected Papers. Series: Lecture notes in computer science (5329). Springer: Berlin ; New York, pp. 107-120. ISBN 9783540927808 (doi: 10.1007/978-3-540-92781-5_9)
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Abstract
This paper presents a probabilistic representation for 3D objects, and details the mechanism of inferring the pose of real-world objects from vision. Our object model has the form of a hierarchy of increasingly expressive 3D features, and probabilistically represents 3D relations between these. Features at the bottom of the hierarchy are bound to local perceptions; while we currently only use visual features, our method can in principle incorporate features from diverse modalities within a coherent framework. Model instances are detected using a Nonparametric Belief Propagation algorithm which propagates evidence through the hierarchy to infer globally consistent poses for every feature of the model. Belief updates are managed by an importance-sampling mechanism that is critical for efficient and precise propagation. We conclude with a series of pose estimation experiments on real objects, along with quantitative performance evaluation.
Item Type: | Book Sections |
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Status: | Published |
Glasgow Author(s) Enlighten ID: | Pugeault, Dr Nicolas |
Authors: | Detry, R., Pugeault, N., and Piater, J. |
College/School: | College of Science and Engineering > School of Computing Science |
Publisher: | Springer |
ISBN: | 9783540927808 |
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