Texture-Less Planar Object Detection and Pose Estimation Using Depth-Assisted Rectification of Contours.

João Paulo Lima 1 Hideaki Uchiyama 2 Veronica Teichrieb 1 Eric Marchand 2
1 Voxar Labs [Brésil]
2 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
Abstract : This paper presents a method named Depth-Assisted Rectification of Contours (DARC) for detection and pose estimation of texture- less planar objects using RGB-D cameras. It consists in matching contours extracted from the current image to previously acquired template contours. In order to achieve invariance to rotation, scale and perspective distortions, a rectified representation of the contours is obtained using the available depth information. DARC requires only a single RGB-D image of the planar objects in order to estimate their pose, opposed to some existing approaches that need to capture a number of views of the target object. It also does not require to generate warped versions of the templates, which is commonly needed by existing object detection techniques. It is shown that the DARC method runs in real-time and its detection and pose estimation quality are suitable for augmented reality applications.
Type de document :
Communication dans un congrès
IEEE Int. Symp. on Mixed and Augmented Reality, ISMAR'12, 2012, Atlanta, United States. pp.297-298, 2012
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https://hal.inria.fr/hal-00750604
Contributeur : Eric Marchand <>
Soumis le : dimanche 11 novembre 2012 - 17:04:08
Dernière modification le : vendredi 16 novembre 2018 - 01:39:40
Document(s) archivé(s) le : mardi 12 février 2013 - 03:44:56

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João Paulo Lima, Hideaki Uchiyama, Veronica Teichrieb, Eric Marchand. Texture-Less Planar Object Detection and Pose Estimation Using Depth-Assisted Rectification of Contours.. IEEE Int. Symp. on Mixed and Augmented Reality, ISMAR'12, 2012, Atlanta, United States. pp.297-298, 2012. 〈hal-00750604〉

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