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Robust Pose Estimation by Fusing Partial Color and Depth Imagery Cover

Robust Pose Estimation by Fusing Partial Color and Depth Imagery

Measurement Science Review
Volume 25 (2025): Issue 6 (December 2025)
By: Mehmet Akif AlperORCID  
Open Access
|Oct 2025

Figures & Tables

Fig. 1.

Outlier depth points detected within the filter that showed extreme depth changes, so the filter eliminates extreme depths to create a sharp object surface.
Outlier depth points detected within the filter that showed extreme depth changes, so the filter eliminates extreme depths to create a sharp object surface.

Fig. 2.

The calibration framework and the transformations between the coordinate systems have been specified.
The calibration framework and the transformations between the coordinate systems have been specified.

Fig. 3.

After calibration, Vicon and the pose estimates show close alignment.
After calibration, Vicon and the pose estimates show close alignment.

Fig. 4.

Rigid object was rotated by 15 degrees, model and target point clouds are given.
Rigid object was rotated by 15 degrees, model and target point clouds are given.

Fig. 5.

Pose is calculated using the CPD algorithm and the point clouds were aligned based on estimates leading to errors.
Pose is calculated using the CPD algorithm and the point clouds were aligned based on estimates leading to errors.

Fig. 6.

Pose is calculated using Flow-CPD and the point clouds were aligned based on the estimates of Flow-CPD. It can be seen that the model and target point clouds interact with each other, showing improved accuracy.
Pose is calculated using Flow-CPD and the point clouds were aligned based on the estimates of Flow-CPD. It can be seen that the model and target point clouds interact with each other, showing improved accuracy.
DOI: https://doi.org/10.2478/msr-2025-0033 | Journal eISSN: 1335-8871
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Language: English
Page range: 309 - 314
Submitted on: Sep 29, 2024
Accepted on: Sep 16, 2025
Published on: Oct 31, 2025
Published by: Slovak Academy of Sciences, Institute of Measurement Science
In partnership with: Paradigm Publishing Services
Publication frequency: Volume open
Keywords:
point cloud,
transformation,
relative pose,
coherent point drift,
Kinect II,
Vicon
Related subjects:
Engineering,
Electrical engineering,
Control engineering, metrology and testing

© 2025 Mehmet Akif Alper, published by Slovak Academy of Sciences, Institute of Measurement Science
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

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