An Approach for Tracking the 3D Object Pose Using Two Object Points

  • Sai Krishna Vuppala
  • Axel Gräser
Part of the Lecture Notes in Computer Science book series (LNCS, volume 5008)


In this paper, a novel and simple approach for tracking the object pose, position and orientation, using two object points when the object is rotated about one of the axes of the reference coordinate system is presented. The object rotation angle can be tracked up to a range of 180° for object rotations around each axis of the reference coordinate system from an initial object situation. The considered two object points are arbitrary points of the object which can be uniquely identified in stereo images. Since the approach requires only two object points, it is advantageous for the robotic applications where very few feature points can be obtained because of lack of pattern information on the objects. The paper also presents the results for the pose estimation of a meal tray in a rehabilitation robotics environment.


Tracking 3D Object Pose Object Localization 3D Reconstruction Two Points Approach 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2008

Authors and Affiliations

  • Sai Krishna Vuppala
    • 1
  • Axel Gräser
    • 1
  1. 1.Institute of AutomationUniversity of BremenBremenGermany

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