Stereo Vision-based 3D Camera Pose and Object Structure Estimation - An Application to Service Robotics

In this paper, a robotic pose (position and orientation) estimation and volumetric object modeling system is proposed. The main goal of the methods is to reliably detect the structure of objects of interest present in a visualized robotic scene, together with a precise estimation of the robot’s pose with respect to the detected objects. The robustness of the robotic pose estimation module is achieved by filtering the 2D correspondence matches in order to detect false positives. Once the pose of the robot is obtained, the volumetric structure of the imaged objects of interest is reconstructed through 3D shape primitives and a 3D Region of Interest (ROI).