SHAPE-BASED 3D OBJECT DETECTION AND POSE ESTIMATION METHOD USING ARBITARY VIEW IMAGE

摘要

PURPOSE: A shape-based 3d object detection and a pose estimation method using an arbitrary view image are provided to enable rapid searching speed by using the external information of a 3D object and reducing the amount of data for searching a similar object. CONSTITUTION: An index combines the images, which has mirror image generated by the rotation of a camera, in one feature information, and is configured by using a distance curve of the residual images from which overlapped exterior pattern is removed(S101). Similar objects based on the most similar experience is searched by being compared with a distance curve of a query image through a 3D object data index structure(S103). The candidate pose of the object including the image having the identical appearance to the most similar appearance is extracted(S105).