教師資料查詢 | 類別: 期刊論文 | 教師: 蔡奇謚 Chi-yi Tsai (瀏覽個人網頁)

標題:Efficient Model-Based Object Pose Estimation Based on Multi-Template Tracking and PnP Algorithms
學年107
學期1
出版(發表)日期2018/08/12
作品名稱Efficient Model-Based Object Pose Estimation Based on Multi-Template Tracking and PnP Algorithms
作品名稱(其他語言)
著者Chi-Yi Tsai; Kuang-Jui Hsu; Humaira Nisar
單位
出版者
著錄名稱、卷期、頁數Algorithms 2018 11(8), 122
摘要Three-Dimensional (3D) object pose estimation plays a crucial role in computer vision because it is an essential function in many practical applications. In this paper, we propose a real-time model-based object pose estimation algorithm, which integrates template matching and Perspective-n-Point (PnP) pose estimation methods to deal with this issue efficiently. The proposed method firstly extracts and matches keypoints of the scene image and the object reference image. Based on the matched keypoints, a two-dimensional (2D) planar transformation between the reference image and the detected object can be formulated by a homography matrix, which can initialize a template tracking algorithm efficiently. Based on the template tracking result, the correspondence between image features and control points of the Computer-Aided Design (CAD) model of the object can be determined efficiently, thus leading to a fast 3D pose tracking result. Finally, the 3D pose of the object with respect to the camera is estimated by a PnP solver based on the tracked 2D-3D correspondences, which improves the accuracy of the pose estimation. Experimental results show that the proposed method not only achieves real-time performance in tracking multiple objects, but also provides accurate pose estimation results. These advantages make the proposed method suitable for many practical applications, such as augmented reality.
關鍵字model-based pose estimation;3D pose estimation;homography decomposition;PnP problem;template tracking
語言英文(美國)
ISSN
期刊性質國外
收錄於EI;ESCI;
產學合作
通訊作者
審稿制度
國別瑞士
公開徵稿
出版型式,電子版
相關連結
Google+ 推薦功能,讓全世界都能看到您的推薦!