Transactions on Computational Science XIX

Volume 7870 of the series Lecture Notes in Computer Science pp 143-157

Pose Refinement of Transparent Rigid Objects with a Stereo Camera

  • Ilya LysenkovAffiliated withItseez
  • , Victor EruhimovAffiliated withItseez

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We propose a new method for refining 6-DOF pose of rigid transparent objects. The algorithm is based on minimizing the distance between edges in a test image and a set of edges produced by the training model with a specific pose. The model is scanned with a monocular camera and a 3D sensor such as a Kinect device. The pose is estimated from a monocular image or a stereo pair. The method does not require a CAD model of the object. We demonstrate experimental results on a set of kitchen items essential for any home and office environment.


pose estimation localization transparent objects