Pose Estimation¶
Geometric Pose Estimation¶
Point Cloud Registration¶
Given correspondences:
\[T^* = \arg\min_T \sum_i \|p_i - T q_i\|^2\]
ICP (Iterative Closest Point)¶
- Find point correspondences
- Estimate transformation
- Repeat until convergence
Handling Partial Views¶
- Segmentation
- Outlier removal
- Multi-view fusion
Grasp Pose Detection¶
Contact Model¶
$\(\mu N \geq F_t\)$ (friction cone constraint)
Grasp Quality¶
- Force closure
- Grasp stiffness
- Task-oriented metrics
