Method and system for determining poses of objects from range images using adaptive sampling of pose spaces

摘要

A method for determining a pose of an object from a range image is presented. A distribution of poses for an object is determined from a model of the object. A set of reference poses is selected according to the distribution, such that more reference poses are selected for more probable poses than less probable poses. A reference image for each reference pose is generated, and the reference pose used to generate the reference image that best matches a range image including the object is assigned as the pose of the object.