| 摘要 |
The present system provides a tool to estimate the relative pose of a generic object with respect to a camera view-point by processing 2D images from a monocular camera in real¬ time. The capability of solving the pose estimation problem relies on the robust detection and matching in consecutive image frames of significant visual features belonging to an object of interest. To accomplish this, the system incorporates 3D modeling of the object of interest. In one embodiment, the shape of interest may be approximated by a parametric surface such as a cylinder, sphere, ellipsoid, or even complex non-parametric models. The system can restrain information retrieved at a 2D image level to estimate parameters about the pose. In operation, the accuracy of the 3D pose estimation of the object is a function of the degree of approximation of the selected model and the ability to select and track relevant features across consecutive image frames. |
