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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)
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)
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