Three-dimensional Simultaneous Shape and Pose Estimation for Extended Objects Using Spherical Harmonics
This work addresses the problem of simultaneous 3D shape and pose estimation for extended objects, which is relevant for applications in robotics and computer vision.
This paper introduces a recursive method for simultaneously estimating the 3D pose and shape of an extended object. The object's shape is represented using spherical harmonics, enabling the derivation of a measurement equation compatible with nonlinear filters like the UKF. The method's effectiveness is demonstrated through both simulations and experiments.
We propose a new recursive method for simultaneous estimation of both the pose and the shape of a three-dimensional extended object. The key idea of the presented method is to represent the shape of the object using spherical harmonics, similar to the way Fourier series can be used in the two-dimensional case. This allows us to derive a measurement equation that can be used within the framework of nonlinear filters such as the UKF. We provide both simulative and experimental evaluations of the novel techniques.