The „Point Pair Features“ method uses information extracted from 3D models to detect an object and estimate its pose in a point cloud scene.
As part of my bachelor thesis, I am currently working on a program that uses this method and returns the pose of the searched object.
To retrieve the pose of a 3D model can be very useful for object interaction and tracking, due to the fact that we know the shape of the object and its orientation.
For example, imagine a robot trying to grab a detected mug with a handle on the side. Using the pose and shape information that the program returns, the robot could grab the cup from the handle.
• Kevin Fischer