Probabilistic Depth Image Registration incorporating Nonvisual Information

04/29/2015
by   Manuel Wüthrich, et al.
0

In this paper, we derive a probabilistic registration algorithm for object modeling and tracking. In many robotics applications, such as manipulation tasks, nonvisual information about the movement of the object is available, which we will combine with the visual information. Furthermore we do not only consider observations of the object, but we also take space into account which has been observed to not be part of the object. Furthermore we are computing a posterior distribution over the relative alignment and not a point estimate as typically done in for example Iterative Closest Point (ICP). To our knowledge no existing algorithm meets these three conditions and we thus derive a novel registration algorithm in a Bayesian framework. Experimental results suggest that the proposed methods perform favorably in comparison to PCL implementations of feature mapping and ICP, especially if nonvisual information is available.

READ FULL TEXT

page 5

page 6

research
11/04/2020

Registration Loss Learning for Deep Probabilistic Point Set Registration

Probabilistic methods for point set registration have interesting theore...
research
04/07/2016

Reinterpreting the Transformation Posterior in Probabilistic Image Registration

Probabilistic image registration methods estimate the posterior distribu...
research
03/18/2022

GiNGR: Generalized Iterative Non-Rigid Point Cloud and Surface Registration Using Gaussian Process Regression

In this paper, we unify popular non-rigid registration methods for point...
research
01/12/2017

Probabilistic Diffeomorphic Registration: Representing Uncertainty

This paper presents a novel mathematical framework for representing unce...
research
10/09/2018

Learn the Manipulation of Deformable Objects Using Tangent Space Point Set Registration

Point set registration is a powerful method that enables robots to manip...
research
08/05/2022

Driving Points Prediction For Abdominal Probabilistic Registration

Inter-patient abdominal registration has various applications, from phar...
research
05/14/2019

Scaling Bayesian Probabilistic Record Linkage with Post-Hoc Blocking: An Application to the California Great Registers

Probabilistic record linkage (PRL) is the process of determining which r...

Please sign up or login with your details

Forgot password? Click here to reset