Holm, Preben Hagh Strunge3; Petersen, Henrik Gordon3
1 The Maersk Mc-Kinney Moller Institute, Faculty of Engineering, SDU2 SDU Robotics, The Maersk Mc-Kinney Moller Institute, Faculty of Engineering, SDU3 The Maersk Mc-Kinney Moller Institute, Faculty of Engineering, SDU
In this paper, we present ErrorCheck, which is a new method for controlling the accuracy of a computer vision based pose refinement method. ErrorCheck consists of a way for validating robustness of a pose refinement method towards false correspondences and a way of controlling the accuracy of a validated pose refinement method. ErrorCheck uses a theoretical estimate of the pose error covariance both for validating robustness and controlling the accuracy.We illustrate the first usage of ErrorCheck by applying it to state-of-the-art methods for pose refinement and some variations of these methods that turn out to be necessary to introduce.
Proceedings of the 5th International Conference on Automation, Robotics and Applications, 2011