PT Journal
AU Wuest, H
   Stricker, D
TI Tracking of industrial objects by using CAD models
SO JVRB - Journal of Virtual Reality and Broadcasting
PY 2007
VL 4(2007)
IS 1
DI 10.20385/1860-2037/4.2007.1
DE Augmented Reality; CAD model; Line Tracking; Tracking
AB In this paper we present a model-based approach for real-time camera pose estimation in industrial scenarios. The line model which is used for tracking is generated by rendering a polygonal model and extracting contours out of the rendered scene. By un-projecting a point on the contour with the depth value stored in the z-buffer, the 3D coordinates of the contour can be calculated. For establishing 2D/3D correspondences the 3D control points on the contour are projected into the image and a perpendicular search for gradient maxima for every point on the contour is performed. Multiple hypotheses of 2D image points corresponding to a 3D control point make the pose estimation robust against ambiguous edges in the image.
ER