Pose Estimation using a Hierarchical 3D Representation of Contours and Surfaces
Anders Glent Buch, Dirk Kraft, Joni-Kristian Kämäräinen, Norbert Krüger
2013
Abstract
We present a system for detecting the pose of rigid objects using texture and contour information. From a stereo image view of a scene, a sparse hierarchical scene representation is reconstructed using an early cognitive vision system. We define an object model in terms of a simple context descriptor of the contour and texture features to provide a sparse, yet descriptive object representation. Using our descriptors, we do a search in the correspondence space to perform outlier removal and compute the object pose. We perform an extensive evaluation of our approach with stereo images of a variety of real-world objects rendered in a controlled virtual environment. Our experiments show the complementary role of 3D texture and contour information allowing for pose estimation with high robustness and accuracy.
DownloadPaper Citation
in Harvard Style
Glent Buch A., Kraft D., Kämäräinen J. and Krüger N. (2013). Pose Estimation using a Hierarchical 3D Representation of Contours and Surfaces . In Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2013) ISBN 978-989-8565-47-1, pages 105-111. DOI: 10.5220/0004275801050111
in Bibtex Style
@conference{visapp13,
author={Anders Glent Buch and Dirk Kraft and Joni-Kristian Kämäräinen and Norbert Krüger},
title={Pose Estimation using a Hierarchical 3D Representation of Contours and Surfaces},
booktitle={Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2013)},
year={2013},
pages={105-111},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004275801050111},
isbn={978-989-8565-47-1},
}
in EndNote Style
TY - CONF
JO - Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2013)
TI - Pose Estimation using a Hierarchical 3D Representation of Contours and Surfaces
SN - 978-989-8565-47-1
AU - Glent Buch A.
AU - Kraft D.
AU - Kämäräinen J.
AU - Krüger N.
PY - 2013
SP - 105
EP - 111
DO - 10.5220/0004275801050111