Estimation of 3-D Pose with 2-D Vision Based on Shape Matching Method

被引：0

作者：

Chen, Bin ^{[1
,2
]}

Su, Jianhua ^{[1
]}

Lv, Kun ^{[3
]}

Xue, Donge ^{[4
]}

机构：

[1] Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China

[2] Univ Chinese Acad Sci, Beijing, Peoples R China

[3] China Int Engn Consulting Corp, Beijing, Peoples R China

[4] Jiangxi Univ Sci & Technol, Ganzhou, Peoples R China

来源：

NEURAL INFORMATION PROCESSING (ICONIP 2018), PT VI | 2018年 / 11306卷

关键词：

3D object recognition; Shape context; Similarity measure;

D O I：

10.1007/978-3-030-04224-0_20

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

Pose estimation is an important step in the grasping of workpieces. However, most previous works aim to use the 3D vision system to locate the 3D pose of the object. This paper develops a pose estimation of 3D object with 2D vision system. The proposed method includes two steps: (a) a hierarchy model of 2D views of the object is firstly constructed off-line; (b) the pose of object is then estimated by measuring the similarity of the model and target image. The proposed method is inherently robust against noise and illumination changes, and also efficient in real applications.

引用

页码：233 / 242

页数：10

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