Conference Proceedings

Direct 6-DoF Pose Estimation from Point-Plane Correspondences

K KHOSHELHAM

IEEE | Published : 2015

Abstract

Localizing a mobile sensor in an indoor environment usually involves obtaining 3D scans of the environment and estimating the sensor pose by matching the successive scans. This can be done effectively by minimizing point-plane distances for which only iterative solutions are available. Iterative solutions are notorious for convergence issues, and are inefficient for long sequences of scans. This paper presents a direct method for estimating 6-dof pose of a sensor by minimizing point-plane distances. Through experimental evaluation it is shown that the direct method gives accurate estimates, and performs robustly in presence of noise. The performance of the direct method is also evaluated wit..

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