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This letter presents a novel method for visual odometry estimation from a RGB-D camera. The camera motion is estimated by aligning a source to a target RGB-D frame using an intensity-assisted iterative closest point (ICP) algorithm. The proposed method differs from the conventional ICP in following aspects. 1) To reduce the computational cost, salient point(More)
In this paper, we present an object recognition and pose estimation framework consisting of a novel global object de-scriptor, so called Viewpoint oriented Color-Shape Histogram (VCSH), which combines object's color and shape information. During the phase of object modeling and feature extraction , the whole object's color point cloud model is built by(More)
This paper presents a novel point-cloud descriptor for robust and real-time tracking of multiple objects without any object knowledge. Following with the framework of incremental model-free multiple object tracking from our previous work [5][7][6], 6 DoF pose of each object is firstly estimated with input point-cloud data which is then segmented according(More)
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