Pose Estimation using a Hierarchical 3D Representation of Contours and Surfaces

Anders Glent Buch, Dirk Kraft, Joni-Kristian Kämäräinen, Norbert Krüger

Publikation: Kapitel i bog/rapport/konference-proceedingKonferencebidrag i proceedingsForskningpeer review

Abstract

We present a system for detecting the pose of rigid objects using texture and contour information. From a stereo image view of a scene, a sparse hierarchical scene representation is reconstructed using an early cognitive vision system. We define an object model in terms of a simple context descriptor of the contour and texture features to provide a sparse, yet descriptive object representation. Using our descriptors, we do a search in the correspondence space to perform outlier removal and compute the object pose. We perform an extensive evaluation of our approach with stereo images of a variety of real-world objects rendered in a controlled virtual environment. Our experiments show the complementary role of 3D texture and contour information allowing for pose estimation with high robustness and accuracy.
OriginalsprogEngelsk
TitelProceedings of the 8th International Conference on Computer Vision Theory and Applications
ForlagSCITEPRESS Digital Library
Publikationsdato2013
Sider105-111
ISBN (Trykt)978-989-8565-47-1
DOI
StatusUdgivet - 2013
Begivenhed8th International Conference on Computer Vision Theory and Applications - Barcelona, Spanien
Varighed: 21. feb. 201324. feb. 2013

Konference

Konference8th International Conference on Computer Vision Theory and Applications
Land/OmrådeSpanien
ByBarcelona
Periode21/02/201324/02/2013

Emneord

  • Early cognitive vision
  • Pose estimation
  • Shape context descriptors

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