3-D object pose estimation based on iterative image matching: Shading and edge data fusion

摘要

Based on model-driven image matching, the 3-D object pose is iteratively estimated. Shading images and edge images are synthesized from an abject model, and are matched, individually, with the input images by using a nonlinear least-squares method. The fusion of the shading and the edge information is achieved choosing the better of the two pieces of image matching.