Pose detection using depth camera

摘要

A computer-implemented method, computerized apparatus and computer program product for detecting an object's pose using a depth image. An image of an object in a scene and depth data of the scene are obtained. At least one pose hypothesis, representing a hypothesized plane, are determined based on the image. An incidence plane, hypothesized to be coplanar with the object, is determined based on the depth data. A relation indicating a level of consistency is determined between the hypothesized plane and the incidence plane for the at least one pose hypothesis.

主权项

1. A computer-implemented method comprising:
obtaining an image of an object in a scene; obtaining depth data of the scene; determining, based on the image, at least one hypothesis of a pose of the object, wherein each of the at least one hypothesis represents a hypothesized plane; determining, based on the depth data, an incidence plane hypothesized to be coplanar with the object; and, determining for the at least one hypothesis a relation between the hypothesized plane and the incidence plane, wherein the relation indicates a level of consistency, wherein said determining the relation between the hypothesized plane and the incidence plane is performed by a processor; wherein determining the relation comprises:
determining a reference plane;determining a homography T between the incidence plane and the reference plane;determining a homography T between the hypothesized plane and the reference plane;determining a reference point;determining a first projection by applying T to the reference point;determining a second projection by applying T′ to the reference point; and,determining a difference between the first projection and the second projection,wherein the relation is determined based on the difference.