Iterative pose estimation of a 3D rigid object based on general 2D-3D contour point correspondence

doi:10.7523/j.issn.2095-6134.2012.6.015

Abstract

Abstract: Pose estimation of 3D rigid object based on monocular vision is studied. Considering the insufficiency of state-of-art iterative methods in convergence radius and convergence speed, we propose a new iterative pose estimation method based on general 2D-3D contour point correspondence. The proposed method focuses on explicitly establishing the 2D-3D feature projection correspondence between the input image and object's 3D model with the general 2D contour points of the input image, and then estimates object's 3D pose parameters. Experiment results show that the proposed method provides notable improvements in algorithm complexity, convergence radius, and convergence speed.

Key words: 3D rigid object, monocular vision, pose estimation, feature projection correspondence

CLC Number:

TP391

LENG Da-Wei, MA Hong-Bing, SUN Wei-Dong. Iterative pose estimation of a 3D rigid object based on general 2D-3D contour point correspondence[J]. , 2012, (6): 821-828.

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