Marching cubes: A high resolution 3D surface construction algorithm
SIGGRAPH '87 Proceedings of the 14th annual conference on Computer graphics and interactive techniques
Rapid octree construction from image sequences
CVGIP: Image Understanding
3D object recognition and pose with relational indexing
Computer Vision and Image Understanding
Catadioptric Stereo Using Planar Mirrors
International Journal of Computer Vision
The Visual Hull Concept for Silhouette-Based Image Understanding
IEEE Transactions on Pattern Analysis and Machine Intelligence
Silhouette Coherence for Camera Calibration under Circular Motion
IEEE Transactions on Pattern Analysis and Machine Intelligence
CAD-based recognition of 3D objects in monocular images
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Pose Estimation of Known Objects by Efficient Silhouette Matching
ICPR '10 Proceedings of the 2010 20th International Conference on Pattern Recognition
High-accuracy stereo depth maps using structured light
CVPR'03 Proceedings of the 2003 IEEE computer society conference on Computer vision and pattern recognition
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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 20 s and reconstructions and pose estimations in 200ms.