Abstract
This paper describes a method for the direct computation of rotation and translation parameters of an object using multisensory data gathered from intensity and range sensors. Intensity images which can be gathered rapidly are used as the basis for guiding the extraction of a small set of correspondent points whose three-dimensional coordinates can be determined by a range sensing device. Library-model centered motion transformations are computed using a least squares approach. Object centered motion parameters are derived by computing the transformation between successive positions of the object. Results are presented for range and intensity images of synthetic and laboratory scenes
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