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Augmenting Markerless Complex 3D Objects By Combining Geometrical and Color Edge Information

Antoine Petit 1 Eric Marchand 1 Keyvan Kanani 2
1 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 to address the issue of augmenting a markerless 3D object with a complex shape. It relies on a model- based tracker which takes advantage of GPU acceleration and 3D rendering in order to handle the complete 3D model, whose sharp edges are efficiently extracted. In the pose estimation step, we pro- pose to robustly combine geometrical and color edge-based features in the nonlinear minimization process, and to integrate multiple- hypotheses in the geometrical edge-based registration phase. Our tracking method shows promising results for augmented reality ap- plications, with a Kinect-based reconstructed 3D model.
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Antoine Petit, Eric Marchand, Keyvan Kanani. Augmenting Markerless Complex 3D Objects By Combining Geometrical and Color Edge Information. IEEE Int. Symp. on Mixed and Augmented Reality, ISMAR 2013, Oct 2013, Adelaide, Australia. pp.287-288. ⟨hal-00851424⟩

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