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 system 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. Experimental 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 calibration in 20s and reconstructions and pose estimations in 200ms.
Chapter PDF
Similar content being viewed by others
References
Byne, J., Anderson, J.: A CAD-based computer vision system. Image and Vision Computing 16(8), 533–539 (1998)
Costa, M.S., Shapiro, L.G.: 3D object recognition and pose with relational indexing. Computer Vision and Image Understanding 79(3), 364–407 (2000)
Cyr, C., Kimia, B.: 3D object recognition using shape similiarity-based aspect graph. In: ICCV, pp. 254–261 (2001)
Fofi, D., Sliwa, T., Voisin, Y.: A comparative survey on invisible structured light. In: SPIE, vol. 5303, pp. 90–98 (May 2004)
Gluckman, J., Nayar, S.K.: Catadioptric stereo using planar mirrors. IJCV 44 (2001)
Heber, M., Ruether, M., Bischof, H.: Catadioptric multiview pose estimation for robotic pick and place. In: VISAPP, vol. 1, pp. 423–426 (2010)
Hernandez, C., Schmitt, F., Cipolla, R.: Silhouette coherence for camera calibration under circular motion. PAMI 29(2), 343–349 (2007)
Hu, B., Brown, C., Nelson, R.: Multiple-view 3-D reconstruction using a mirror. Tech. rep., University of Rochester (May 2005)
Laurentini, A.: The visual hull concept for silhouette-based image understanding. PAMI 2 (1994)
Lorensen, W.E., Cline, H.E.: Marching cubes: A high resolution 3d surface construction algorithm. SIGGRAPH 21(4), 163–169 (1987)
Nelder, J.A., Mead, R.: A simplex method for function minimization. The Computer Journal 7(4), 308–313 (1965)
Reinbacher, C., Ruether, M., Bischof, H.: Pose estimation of known objects by efficient silhouette matching. In: ICPR (2010)
Santner, J., Unger, M., Pock, T., Leistner, C., Saffari, A., Bischof, H.: Interactive texture segmentation using random forests and total variation. In: BMVC, London, UK (September 2009)
Scharstein, D., Szeliski, R.: High-accuracy stereo depth maps using structured light. In: CVPR, vol. 1, pp. 195–202 (June 2003)
Szeliski, R.: Rapid octree construction from image sequences. In: CVGIP, vol. 58, pp. 23–32 (1993)
Ulrich, M., Wiedemann, C., Steger, C.: CAD-based recognition of 3D objects in monocular images. In: ICRA, pp. 1191–1198 (2009)
Zhang, Z.: Flexible camera calibration by viewing a plane from unknown orientations. In: ICCV, pp. 666–673 (1999)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2011 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Reinbacher, C., Heber, M., Rüther, M., Bischof, H. (2011). Catadioptric Silhouette-Based Pose Estimation from Learned Models. In: Heyden, A., Kahl, F. (eds) Image Analysis. SCIA 2011. Lecture Notes in Computer Science, vol 6688. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-21227-7_38
Download citation
DOI: https://doi.org/10.1007/978-3-642-21227-7_38
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-21226-0
Online ISBN: 978-3-642-21227-7
eBook Packages: Computer ScienceComputer Science (R0)