Journal Article

IMPULSE-2026-00124

http://join2-wiki.gsi.de/foswiki/pub/Main/Artwork/join2_logo100x88.png GeoHash3D: Robust and Efficient 6-DoF Pose Estimation from 3D Marker Sets

Wang, L. (Corresponding author)MLZ* ; Mahalinga Upadhyaya, K. ; Kedilioglu, O.MLZ* ; Hofmann, M. (Corresponding author)MLZ* ; Gan, W.MLZ* ; Hempel, N. ; Mayr, P. ; Reitelshöfer, S. ; Franke, J.

2026
MDPI Basel

Please use a persistent id in citations: doi:10.3390/robotics15080157

Abstract: Accurately measuring the six degrees of freedom (6-DoF) pose of a sample is a criticalprerequisite for applications in robotic sample handling, optical metrology, and industrialquality control. Our pose estimation problem requires matching a small, partial observationof 4–20 discrete 3D points to a reference point set of up to 50 points. Popular registrationalgorithms such as Go-ICP, TEASER++, and MAC are designed for large-scale correspondenceproblems and do not perform reliably in our operating regime. Therefore, we proposean improved geometric hashing method that robustly estimates the rigid transformation inthe presence of noise and outliers, and demonstrate its effectiveness and speed using bothsimulated and real-world datasets.

Keyword(s): Engineering, Industrial Materials and Processing (1st) ; Instrument and Method Development (2nd)

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Contributing Institute(s):

1. STRESSI (STRESSI)

Experiment(s):

1. STRESS-SPEC: Materials science diffractometer (SR3)

Appears in the scientific report 2026

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Database coverage:
; ; ; Article Processing Charges ; Clarivate Analytics Master Journal List ; DOAJ Seal ; Emerging Sources Citation Index ; Fees ; IF < 5 ; JCR ; SCOPUS ; Web of Science Core Collection

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