Dextrous Assembler Robot Working with Embodied Intelligence SEVENTH FRAMEWORK PROGRAMME ICT Priority Deliverable D 3 . 5 : “ Integration of depth images

Estimating the pose of objects from range data is a problem of considerable practical importance for many vision applications. This paper presents an approach for accurate and efficient 3D pose estimation from 2.5D range images. Initialized with an approximate pose estimate, the proposed approach refines it so that it accurately accounts for a sensed range image. This is achieved by using a hypothesize-and-test scheme that combines randomized optimization and graphics-based rendering to minimize an objective function that quantifies the misalignment between the acquired and a rendered range image. Extensive experimental results demonstrate the superior performance of the proposed approach compared to the commonly used Iterative Closest Point (ICP) algorithm.

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