MODEL-BASED POSE ESTIMATION USING A NON-PERSPECTIVE CAMERA

摘要

This invention provides a system and method for determining correspondence between camera assemblies in a 3D vision system so as to acquire contemporaneous images of a runtime object and determine the pose of the object, and in which at least one of the camera assemblies includes a non-perspective lens. The searched 2D object features of the acquired non-perspective image can be combined with the searched 2D object features in images of other camera assemblies, based on their trained object features, to generate a set of 3D image features and thereby determine a 3D pose. Also provided is a system and method for training and performing runtime 3D pose determination of an object using a plurality of camera assemblies in a 3D vision system. The cameras are arranged at different orientations with respect to a scene, so as to acquire contemporaneous images of an object, both at training and runtime.