CAD Model-based 3D Object Pose Estimation using an Edge-Based Nonlinear Model Fitting Algorithm

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题名:	CAD Model-based 3D Object Pose Estimation using an Edge-Based Nonlinear Model Fitting Algorithm
作者:	Tsai, Chi-Yi;Wang, Wei-Yi;Huang, Chi-Hung;Shih, Bo-Ren
关键词:	CAD model-based tracking;object pose estimation;model fitting;nonlinear optimization.
日期:	2015-09-05
上传时间:	2016-04-27 11:20:40 (UTC+8)
出版者:	IIAE
摘要:	This paper addresses the design of a model-based 3D object pose estimation algorithm, which is one of the major techniques to develop a robust robotic vision system using a monocular camera. The proposed system first extracts line features of a captured image by using edge detection and Hough transform techniques. Given a CAD model of the object-of-interest, the 6-DOF pose of the object can then be estimated via a novel edge-based nonlinear model fitting algorithm, which is a nonlinear optimization process for estimating the optimal object pose based on an edge-based distance metric. Experimental results validate the performance of the proposed system.
關聯:	Proceedings of the 3rd IIAE International Conference on Intelligent Systems and Image Processing 2015, pp.59-62
DOI:	10.12792/icisip2015.014
显示于类别:	[電機工程學系暨研究所] 會議論文

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