Probabilistic object tracking using a range camera

  title={Probabilistic object tracking using a range camera},
  author={Manuel W{\"u}thrich and P. Pastor and Mrinal Kalakrishnan and Jeannette Bohg and S. Schaal},
  journal={2013 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  • Manuel Wüthrich, P. Pastor, +2 authors S. Schaal
  • Published 2013
  • Computer Science
  • 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
  • We address the problem of tracking the 6-DoF pose of an object while it is being manipulated by a human or a robot. We use a dynamic Bayesian network to perform inference and compute a posterior distribution over the current object pose. Depending on whether a robot or a human manipulates the object, we employ a process model with or without knowledge of control inputs. Observations are obtained from a range camera. As opposed to previous object tracking methods, we explicitly model self… CONTINUE READING
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