Feasibility Study of Textureless Object Detection and Pose Estimation Based on a Model with 3D Edgels and Surfaces

被引：0
作者：
Shinshu University, Japan [1 ]
不详 [2 ]
不详 [3 ]
机构：
来源：
Paladyn | / 1卷 / 191-204期
关键词：
3D edgel; object detection; pose estimation; textureless object;
D O I：
10.1515/pjbr-2015-0012
中图分类号：
学科分类号：
摘要：
This paper describes a method for the detection of textureless objects. Our target objects include furniture and home appliances, which have no rich textural features or characteristic shapes. Focusing on the ease of application, we define a model that represents objects in terms of three-dimensional edgels and surfaces. Object detection is performed by superimposing input data on the model. A two-stage algorithm is applied to bring out object poses. Surfaces are used to extract candidates fromthe input data, and edgels are then used to identify the pose of a target object using two-dimensional template matching. Experiments using four real furniture and home appliances were performed to show the feasibility of the proposed method.We suggest the possible applicability in occlusion and clutter conditions. © 2015 Kimitoshi Yamazaki et al.
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页码：191 / 204
页数：13
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