Abstract
One of the basic problems of computer vision is to calculate the 6Dof pose of objects. At present, many object recognition methods can give masks and bounding boxes of objects, but in military and industrial fields, 6 Dof pose information is also needed. In this paper, a pose estimation method based on mask, bounding box and object CAD model information is proposed, which can quickly calculate object pose. We use the prior information of object CAD model to generate template data related to the sampling value of object contour and the pose. Then, the input contour is sampled and matched to the corresponding pose template by using the input mask and bounding box, and the pose of the object is obtained. By using the method proposed in this paper, the pose of the object can be obtained quickly, and the accuracy of naked eye recognition can be basically achieved. It has strong compatibility and anti-occlusion ability. As a conclusion, in this paper, a new method of pose estimation is proposed, which can use masks and bounding boxes to quickly estimate the 6Dof pose of objects with known CAD models.
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Cui, Y., Liu, P., Zhang, J. (2019). Estimation of 6Dof Pose Using Image Mask and Bounding Box. In: Wang, Y., Huang, Q., Peng, Y. (eds) Image and Graphics Technologies and Applications. IGTA 2019. Communications in Computer and Information Science, vol 1043. Springer, Singapore. https://doi.org/10.1007/978-981-13-9917-6_23
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DOI: https://doi.org/10.1007/978-981-13-9917-6_23
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