| Authors |
Reinbacher Christian, Heber Markus, Rüther Matthias, Bischof Horst |
| Appeared in |
17th Scandinavian Conference on Image Analysis (SCIA) |
| Organization |
IAPR |
| Date |
2011 |
| Abstract |
The automated handling of objects requires the estimation
of object position and rotation with respect to an actuator. We propose
a system for silhouette-based pose estimation, which can be applied to a
variety of objects, including untextured and slightly transparent objects.
Pose estimation inevitably relies on previous knowledge of the object’s
3D geometry. In contrast to traditional view-based approaches our sys-
tem creates the required 3D model solely from the object silhouettes
and abandons the need to obtain a model beforehand. It is sufficient to
rotate the object in front of the catadioptric camera system. Experimen-
tal results show that the pose estimation accuracy drops only slightly
compared to a highly accurate input model. The whole system utilizes
the parallel processing power of graphics cards, to deliver an auto cal-
ibration in 20 seconds and reconstructions and pose estimations in 200
milliseconds.
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| Link |
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