Detection and Fine 3D Pose Estimation of Texture-less Objects in RGB-D Images

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F15%3A00235890" target="_blank" >RIV/68407700:21230/15:00235890 - isvavai.cz</a>
Result on the web
<a href="http://cmp.felk.cvut.cz/pub/cmp/articles/hodan/Hodan-IROS-2015.pdf" target="_blank" >http://cmp.felk.cvut.cz/pub/cmp/articles/hodan/Hodan-IROS-2015.pdf</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/IROS.2015.7354005" target="_blank" >10.1109/IROS.2015.7354005</a>

Result language
angličtina
Original language name
Detection and Fine 3D Pose Estimation of Texture-less Objects in RGB-D Images
Original language description
Despite their ubiquitous presence, texture-less objects present significant challenges to contemporary visual object detection and localization algorithms. This paper proposes a practical method for the detection and accurate 3D localization of multipletexture-less and rigid objects depicted in RGB-D images. The detection procedure adopts the sliding window paradigm, with an efficient cascade-style evaluation of each window location. A simple pre-filtering is performed first, rapidly rejecting most locations. For each remaining location, a set of candidate templates (i.e. trained object views) is identified with a voting procedure based on hashing, which makes the method's computational complexity largely unaffected by the total number of known objects. The candidate templates are then verified by matching feature points in different modalities. Finally, the approximate object pose associated with each detected template is used as a starting point for a stochastic optimization procedu
Czech name
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Czech description
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Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Publication year
2015
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
IROS 2015: Proceedings IEEE/RSJ International Conference on Inteligent Robots and Systems
ISBN
978-1-4799-9994-1
ISSN
2153-0858
e-ISSN
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Number of pages
8
Pages from-to
4421-4428
Publisher name
IEEE Computer Society
Place of publication
Los Alamitos
Event location
Hamburg
Event date
Sep 28, 2015
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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