Iterative point matching for registration of free-form curves and surfaces
International Journal of Computer Vision
A Mathematical Introduction to Robotic Manipulation
A Mathematical Introduction to Robotic Manipulation
An Affine Invariant Interest Point Detector
ECCV '02 Proceedings of the 7th European Conference on Computer Vision-Part I
Object Recognition from Local Scale-Invariant Features
ICCV '99 Proceedings of the International Conference on Computer Vision-Volume 2 - Volume 2
Recognition of 3D Textured Objects by Mixing View-Based and Model-Based Representations
ICPR '00 Proceedings of the International Conference on Pattern Recognition - Volume 1
Scale & Affine Invariant Interest Point Detectors
International Journal of Computer Vision
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
Stable Real-Time 3D Tracking Using Online and Offline Information
IEEE Transactions on Pattern Analysis and Machine Intelligence
Pose Estimation of 3D Free-Form Contours
International Journal of Computer Vision
Three-Dimensional Shape Knowledge for Joint Image Segmentation and Pose Tracking
International Journal of Computer Vision
Point matching as a classification problem for fast and robust object pose estimation
CVPR'04 Proceedings of the 2004 IEEE computer society conference on Computer vision and pattern recognition
PCA-SIFT: a more distinctive representation for local image descriptors
CVPR'04 Proceedings of the 2004 IEEE computer society conference on Computer vision and pattern recognition
High accuracy optical flow serves 3-d pose tracking: exploiting contour and flow based constraints
ECCV'06 Proceedings of the 9th European conference on Computer Vision - Volume Part II
Model-Based Motion Capture for Crash Test Video Analysis
Proceedings of the 30th DAGM symposium on Pattern Recognition
Clustered stochastic optimization for object recognition and pose estimation
Proceedings of the 29th DAGM conference on Pattern recognition
A new marker design for a robust marker tracking system against occlusions
Computer Animation and Virtual Worlds
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Estimating the pose of a rigid body means to determine the rigid body motion in the 3D space from 2D images. For this purpose, it is reasonable to make use of existing knowledge of the object. Our approach exploits the 3D shape and the texture of the tracked object in form of a 3D textured model to establish 3D-2D correspondences for pose estimation. While the surface of the 3D free-form model is matched to the contour extracted by segmentation, additional reliable correspondences are obtained by matching local descriptors of interest points between the textured model and the images. The fusion of these complementary features provides a robust pose estimation. Moreover, the initial pose is automatically detected and the pose is predicted for each frame. Using the predicted pose as shape prior makes the contour extraction less sensitive. The performance of our method is demonstrated by stereo tracking experiments.