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Method and system for estimating 3D pose of specular objects
Method and system for estimating 3D pose of specular objects
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机译:估计镜面对象的3D姿态的方法和系统
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摘要
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 optionally refined using a fine cost function.
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