DeepAI AI Chat
Log In Sign Up

Three-dimensional Simultaneous Shape and Pose Estimation for Extended Objects Using Spherical Harmonics

by   Gerhard Kurz, et al.

We propose a new recursive method for simultaneous estimation of both the pose and the shape of a three-dimensional extended object. The key idea of the presented method is to represent the shape of the object using spherical harmonics, similar to the way Fourier series can be used in the two-dimensional case. This allows us to derive a measurement equation that can be used within the framework of nonlinear filters such as the UKF. We provide both simulative and experimental evaluations of the novel techniques.


page 3

page 5

page 6

page 7


A generalized parametric 3D shape representation for articulated pose estimation

We present a novel parametric 3D shape representation, Generalized sum o...

Disentangled Implicit Shape and Pose Learning for Scalable 6D Pose Estimation

6D pose estimation of rigid objects from a single RGB image has seen tre...

Pose from Shape: Deep Pose Estimation for Arbitrary 3D Objects

Most deep pose estimation methods need to be trained for specific object...

Cross-Domain 3D Equivariant Image Embeddings

Spherical convolutional networks have been introduced recently as tools ...

Identifying the differences between 3 dimensional shapes Using a Custom-built Smart Glove

Sensor embedded glove systems have been reported to require careful, tim...

Development of a Shape-memorable Adaptive Pin Array Fixture

This paper proposes an adaptive pin-array fixture. The key idea of this ...

RANSAC based three points algorithm for ellipse fitting of spherical object's projection

As the spherical object can be seen everywhere, we should extract the el...