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Uncertainty Minimization in the Localization of Polyhedral Objects
May 1994 (vol. 16 no. 5)
pp. 524-530

A straightforward method is presented for the determination of the optimal sensor exploration in the localization of a polyhedral object, whose geometry is known. Optimality is intended in the sense of the a posteriori covariance matrix of the object position and orientation parameters. The method consists in decomposing the problem into simpler subproblems, each one relative to a single planar face of the object. It requires reasonable processing time, i.e. comparable with the sensor activation time.

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Index Terms:
image segmentation; image reconstruction; genetic algorithms; robust estimation; range image segmentation; image reconstruction; primitive parameters; homogeneous surface patch; residual consensus; RESC; compressed histogram method; best-fit surface parameters; planar surfaces; quadratic surfaces; least median squares method; genetic algorithm; random search
Citation:
V. Caglioti, "Uncertainty Minimization in the Localization of Polyhedral Objects," IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 16, no. 5, pp. 524-530, May 1994, doi:10.1109/34.291444
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