DocumentCode :
2693801
Title :
6-DoF model-based tracking of arbitrarily shaped 3D objects
Author :
Azad, Pedram ; Münch, David ; Asfour, Tamim ; Dillmann, Rüdiger
Author_Institution :
Inst. for Anthropomatics, Karlsruhe Inst. of Technol., Karlsruhe, Germany
fYear :
2011
fDate :
9-13 May 2011
Firstpage :
5204
Lastpage :
5209
Abstract :
Image-based 6-DoF pose estimation of arbitrarily shaped 3D objects based on their shape is a rarely studied problem. Most existing image-based methods for pose estimation either exploit textural information in form of local features or, if shape-based, rely on the extraction of straight line segments or other primitives. Straight-forward extensions of 2D approaches are potentially more general, but in practice assume a limited range of possible view angles. The general problem is that a 3D object can potentially produce completely different 2D projections depending on its relative pose to the observing camera. One way to reduce the solution space is to exploit temporal information, i.e. perform tracking. Again, existing model-based tracking approaches rely on relatively simple object geometries. In this paper, we propose a particle filter based tracking approach that can deal with arbitrary shapes and arbitrary or even no texture, i.e. it offers a general solution to the rigid object tracking problem. As our approach can deal with occlusions, it is in particular of interest in the context of goal-directed imitation learning involving the observation of object manipulations. Results of simulation experiments as well as real-world experiments with different object types prove the practical applicability of our approach.
Keywords :
cameras; feature extraction; image texture; object tracking; particle filtering (numerical methods); pose estimation; arbitrarily shaped 3D object tracking; camera; goal-directed imitation learning; image-based 6-DoF pose estimation; local feature straight line segment extraction; model-based tracking approach; object manipulation; particle filter based tracking approach; six-DoF model-based tracking; temporal information; textural information; Estimation; Graphics processing unit; Image edge detection; Rendering (computer graphics); Shape; Solid modeling; Three dimensional displays;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation (ICRA), 2011 IEEE International Conference on
Conference_Location :
Shanghai
ISSN :
1050-4729
Print_ISBN :
978-1-61284-386-5
Type :
conf
DOI :
10.1109/ICRA.2011.5979950
Filename :
5979950
Link To Document :
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