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 en_US
ISSN
期刊性質 國外
收錄於 EI ESCI
產學合作
通訊作者
審稿制度 是
國別 CHE
公開徵稿
出版型式 ,電子版
相關連結

機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/115011 )

SDGS 夥伴關係,優質教育,產業創新與基礎設施