Method for Estimating 3D Pose of Specular Objects
AssigneeMitsubishi Electric Research Laboratories, Inc.
InventorJu Yong Chang
Life of this patent
Estimating the term…
Abstract
A method estimates a 3D pose of a 3D specular object in an environment. In a preprocessing step, a set of pairs of 2D reference images are generated using a 3D model of the object, and a set of poses of the object, wherein each pair of reference images is associated with one of the poses. Then, a pair of 2D input images are acquired of the object. A rough 3D pose of the object is estimated by comparing features in the pair of 2D input images and the features in each pair of 2D reference images using a rough cost function. The rough estimate is refined using a fine cost function.
Claims22
A method for estimating a 3D pose of a 3D object in an environment, wherein the object has a specular surface, comprising a processor for performing steps of the method, comprising the steps of:
- generating a set of pairs of 2D reference images using a 3D model of the object, and a set of poses of the object, wherein each pair of reference images is associated with one of the poses;
- acquiring a pair of 2D input images of the object;
- estimating a rough 3D pose of the object by comparing features in the pair of 2D input images and the features in each pair of 2D reference images using a rough cost function;
- and
- estimating a fine 3D pose of the object using the rough 3D pose and a fine cost function.
Dependencies are inferred from the claim text.