Tracking of industrial objects by using CAD models
Wuest
Harald
Stricker
Didier
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.
Augmented Reality
CAD model
Line Tracking
Tracking
004
periodical
academic journal
JVRB - Journal of Virtual Reality and Broadcasting
4(2007)
1
2007
1860-2037
urn:nbn:de:0009-6-11595
10.20385/1860-2037/4.2007.1
http://nbn-resolving.de/urn:nbn:de:0009-6-11595
wuest2007