Advertisement

Finding the pose of an object of revolution

  • R. Glachet
  • M. Dhome
  • J. T. Lapreste
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 588)

Abstract

An algorithm able to locate an object of revolution from its CAD model and a single perspective image is proposed. Geometric properties of object of revolution are used in order to simplify the localization problem. The axis projection is first computed by a prediction verification scheme. It enables to compute a virtual image in which the contours are symmetric. A rough localization is done in this virtual image and then improved by an iterative process. Experiments with real images prove its robustness and its capability to deal with partially occluded contours.

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. [DHO-89]
    M. Dhome, M. Richetin, J.T. Lapresté & G. Rives, “Determination of the attitude of 3-D objects from a single perspective view”, IEEE Trans. Pattern Anal. Machine Intell., vol. PAMI-11, nℴ12, pp. 1265–1278, December 1989.Google Scholar
  2. [DHO-90]
    M. Dhome, J.T. Lapresté, G. Rives & M. Richetin, “Spatial localization of modelled objects of revolution in monocular perspective vision”, in Proc. European Conf. Comput. Vision, pp. 475–485, Antibes, France, April 1990.Google Scholar
  3. [GLA-91]
    R. Glachet, M. Dhome, J.T. Lapresté, “Finding the perspective projection of an axis of revolution”, Pattern Recognition Letters, vol. 12, pp. 693–700, October 1991.Google Scholar
  4. [GLA-92]
    R. Glachet, M. Dhome, J.T. Lapresté, “Finding the Pose of an Object of Revolution”, technical report R-92, January 1992.Google Scholar
  5. [KRI-90]
    D.J. Kriegman & J. Ponce, “On recognizing and positioning curved 3D objects from image contours”, IEEE Trans. Pattern Anal. Machine Intell., vol. PAMI-12, Nℴ12, pp. 1127–1137, December 1990.Google Scholar
  6. [HUT-87]
    D.P. Huttenlocher & S. Ullman, “Object recognition using alignment”, in Proc. Int. Conf. Comput. Vision, pp. 102–111, London, England, June 1987.Google Scholar
  7. [LAU-87]
    P J. Laurent, “Courbes ouvertes ou fermées par B-Splines régularisées”, rapport de recherche RR 652-M-Informatique et Mathématiques Appliquées de Grenoble, France, Mars 1987. (In French)Google Scholar
  8. [LAV-90]
    J.M. Lavest, R. Glachet, M. Dhome, J.T. Lapresté, “Objects of revolution: Reconstruction using monocular vision”, submitted to IEEE Trans. Pattern Anal. Machine Intell., 1991.Google Scholar
  9. [LOW-85]
    D.G. Lowe, Perceptual Organization and Visual Recognition, MA: Kluwer, ch. 7, 1985.Google Scholar
  10. [MAR-82]
    D. Marr, Vision, ed. Freeman, pp. 215–233, 1982.Google Scholar
  11. [PON-89]
    J. Ponce, D. Chellberg & W. Mann, “Invariant properties of straight homogeneous generalized cylinders and their contours”, IEEE Trans. Pattern Anal. Machine Intell., vol. PAMI-11, nℴ9, pp. 951–966, September 1989.Google Scholar
  12. [PON-89b]
    Ponce J. & D.J. Kriegman. On recognizing and positioning curved 3D objects from image contours. Proceedings of IEEE Workshop on Interpretation of 3D Scenes, Austin, Texas, November 1989, 61–67.Google Scholar
  13. [RIC-85]
    M. Richetin, J.T. Lapresté & M. Dhome, “Recognition of conics in contours using their geometrical properties”, in Proc. of Conf. Comput. Vision Pattern Recognition, pp. 464–469, San Fransisco, California, June 1985.Google Scholar
  14. [RIC-91]
    M. Richetin, M. Dhome, J.T. Lapresté & G. Rives, “Inverse perspective transform using zerocurvature contour points: Application to the localization of some generalized cylinders from a single view”, IEEE Trans. Pattern Anal. Machine Intell., vol. PAMI-13, nℴ2, pp. 185–192, February 1991.Google Scholar
  15. [ULU-90]
    F. Ulupinar & R. Nevatia, “Shape from contour. Straight homogeneous generalized cones”, in Proc. Int. Conf. Comput. Vision, pp. 582–586, Osaka, Japan, December 1990.Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 1992

Authors and Affiliations

  • R. Glachet
    • 1
  • M. Dhome
    • 1
  • J. T. Lapreste
    • 1
  1. 1.Electronics LaboratoryURA 830 of the CNRS Blaise Pascal University of Clermont-FerrandAubiere CedexFrance

Personalised recommendations