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When planning robotic grasping and manipulation maneuvers, knowledge of the shape and pose of the object of interest is critical information. In order for an autonomous or semi-autonomous system to operate intelligently in an unstructured environment and interact with novel objects, it must have the ability to recover this information at run time, even when no a priori information of the object is...
This paper addresses the problem of motion estimation and 3-D reconstruction through visual tracking with a single-viewpoint sensor and, in particular, how to generalize tracking to calibrated omnidirectional cameras. We analyze different minimization approaches for the intensity-based cost function (sum of squared differences). In particular, we propose novel variants of the efficient second-order...
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