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

  1. (PDF, 583 KB)
AuthorSearch for: ; Search for: ; Search for:
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; système de vision; poursuite d'objets; estimation de la pose; brouillage solaire; scanner laser; photogrammétrie
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
AffiliationNRC Institute for Information Technology; National Research Council Canada
Peer reviewedNo
NRC number44877
NPARC number8913938
Export citationExport as RIS
Report a correctionReport a correction
Record identifiere95c885b-80e9-4a47-9384-acabb9f26faf
Record created2009-04-22
Record modified2016-05-09
Bookmark and share
  • Share this page with Facebook (Opens in a new window)
  • Share this page with Twitter (Opens in a new window)
  • Share this page with Google+ (Opens in a new window)
  • Share this page with Delicious (Opens in a new window)
Date modified: