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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 
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.
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Contributor : Eric Marchand Connect in order to contact the contributor
Submitted on : Sunday, November 11, 2012 - 5:04:08 PM
Last modification on : Thursday, January 20, 2022 - 4:20:28 PM
Long-term archiving on: : Tuesday, February 12, 2013 - 3:44:56 AM


  • HAL Id : hal-00750604, version 1


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. ⟨hal-00750604⟩



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