6D Pose Estimation for Flexible Production with Small Lot Sizes based on CAD Models using Gaussian Process Implicit Surfaces
Jianjie Lin,Markus Rickert,Alois Knoll,Jianjie Lin,Markus Rickert,Alois Knoll
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 do...
