Reliable Planar Object Pose Estimation in Light Fields From Best Subaperture Camera Pairs

A light-field camera can obtain richer information about a scene than a usual camera. This property offers a lot of potential for robot vision. In this letter, we present a method for pose estimation of a planar object with a light-field camera. The light-field camera can be regarded as a set of sub...

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Vydáno v:IEEE robotics and automation letters Ročník 3; číslo 4; s. 3561 - 3568
Hlavní autoři: Crombez, Nathan, Caron, Guillaume, Funatomi, Takuya, Mukaigawa, Yasuhiro
Médium: Journal Article
Jazyk:angličtina
Vydáno: Piscataway IEEE 01.10.2018
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Témata:
Cameras
Computational modeling
Computer Science
Computer vision
Computer Vision and Pattern Recognition
computer vision for other robotic applications
Error reduction
Field cameras
Ground truth
Machine vision
Pose estimation
Robot vision systems
Robotics
Visual tracking
ISSN:2377-3766, 2377-3766
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Shrnutí:A light-field camera can obtain richer information about a scene than a usual camera. This property offers a lot of potential for robot vision. In this letter, we present a method for pose estimation of a planar object with a light-field camera. The light-field camera can be regarded as a set of subaperture cameras. Although any combination of them can theoretically be used for the pose estimation, the accuracy depends on the combination. We show that the estimated pose error can be reduced by selecting the best pair of subaperture cameras. We have evaluated the accuracy of our approach with real experiments using a light-field camera in front of planar targets held by an industrial manipulator for ground truth comparison.
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ISSN:2377-3766
2377-3766
DOI:10.1109/LRA.2018.2853267