English  |  正體中文  |  简体中文  |  全文筆數/總筆數 : 62570/95233 (66%)
造訪人次 : 2565798      線上人數 : 272
RC Version 7.0 © Powered By DSPACE, MIT. Enhanced by NTU Library & TKU Library IR team.
搜尋範圍 查詢小技巧:
  • 您可在西文檢索詞彙前後加上"雙引號",以獲取較精準的檢索結果
  • 若欲以作者姓名搜尋,建議至進階搜尋限定作者欄位,可獲得較完整資料
  • 進階搜尋
    請使用永久網址來引用或連結此文件: https://tkuir.lib.tku.edu.tw/dspace/handle/987654321/115011

    題名: Efficient Model-Based Object Pose Estimation Based on Multi-Template Tracking and PnP Algorithms
    作者: Chi-Yi Tsai;Kuang-Jui Hsu;Humaira Nisar
    關鍵詞: model-based pose estimation;3D pose estimation;homography decomposition;PnP problem;template tracking
    日期: 2018-08-12
    上傳時間: 2018-09-27 12:10:23 (UTC+8)
    摘要: Three-Dimensional (3D) object pose estimation plays a crucial role in computer vision because it is an essential function in many practical applications. In this paper, we propose a real-time model-based object pose estimation algorithm, which integrates template matching and Perspective-n-Point (PnP) pose estimation methods to deal with this issue efficiently. The proposed method firstly extracts and matches keypoints of the scene image and the object reference image. Based on the matched keypoints, a two-dimensional (2D) planar transformation between the reference image and the detected object can be formulated by a homography matrix, which can initialize a template tracking algorithm efficiently. Based on the template tracking result, the correspondence between image features and control points of the Computer-Aided Design (CAD) model of the object can be determined efficiently, thus leading to a fast 3D pose tracking result. Finally, the 3D pose of the object with respect to the camera is estimated by a PnP solver based on the tracked 2D-3D correspondences, which improves the accuracy of the pose estimation. Experimental results show that the proposed method not only achieves real-time performance in tracking multiple objects, but also provides accurate pose estimation results. These advantages make the proposed method suitable for many practical applications, such as augmented reality.
    關聯: Algorithms 2018 11(8), 122
    DOI: 10.3390/a11080122
    顯示於類別:[電機工程學系暨研究所] 期刊論文


    檔案 描述 大小格式瀏覽次數
    Efficient Model-Based Object Pose Estimation Based on Multi-Template Tracking and PnP Algorithms.pdf2802KbAdobe PDF145檢視/開啟



    DSpace Software Copyright © 2002-2004  MIT &  Hewlett-Packard  /   Enhanced by   NTU Library & TKU Library IR teams. Copyright ©   - 回饋