Robust Object Pose Estimation From Feature-Based Stereo

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ConferenceIEEE Transactions on Instrumentation and Measurement, August 2006.
VolumeVolume 55, Number 4
Subjectcamera calibration; feature matching; feature tracking; pose estimation; shape-from-silhouette; stereovision; three-dimensional (3-D) reconstruction; mise en correspondance des traits; suivi des traits; estimation de la pose; shape-from-silhouette; stéréovision; reconstruction tridimensionnelle (3D)
AbstractThis paper addresses the problem of computing the three-dimensional (3-D) path of a moving rigid object using a calibrated stereoscopic vision setup. The proposed system begins by detecting feature points on the moving object. By tracking these points over time, it produces clouds of 3-D points that can be registered, thus giving information about the underlying camera motion. A novel correction scheme that compensates for the accumulated error in the computed positions by automatic detection of loop-back points in the movement of the object is also proposed. An application to object modeling is presented in which a handheld object is moved in front of a camera and is reconstructed using silhouette intersection.
Publication date
AffiliationNRC Institute for Information Technology; National Research Council Canada
Peer reviewedNo
NRC number48741
NPARC number8913313
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Record identifierb52e2901-ab9c-465a-9c8c-e341cb68c605
Record created2009-04-22
Record modified2016-05-09
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