Figure 6.9: Scene II.
In this section we consider a slightly more complicated scene, a larger configuration-space and a lower sampling density (or higher sample spacing). Scene II is depicted in Figure 6.9. As in Scene I, the camera is mounted on the end-effector of a gantry-mounted robot arm. The camera faces the scene at a fixed orientation from a distance of about 1.0m, and 256 training images are collected at 2.0cm intervals (=2.0cm) over a 30cm by 30cm grid. 100 images are taken from random poses as test subjects. As in Scene I, the x-axis lies in the image plane of the camera pointing to the right, and is parallel to the horizon. The y-axis is perpendicular to the image plane of the camera, pointed in the direction that the camera faces.
Figure 6.10 demonstrates the accuracy of the method for and . The mean error in position is 0.38cm or 19% of .
Figure 6.11: Scene II pose estimates for 100 test cases, and . The mean estimation error is 0.38cm
In the case of appearance-based estimation, Figure 6.11 demonstrates the accuracy of the method for and . The mean error in position is 0.8cm, or 40% of .
Figure: Scene II pose estimates for 100 test cases, and . The mean estimation error is 0.8cm