剛体の姿勢推定


本資料は2020年10月10日に社内共有資料として展開していたものを WEBページ向けにリニューアルした内容になります。



■Object Pose Estimation

 
  • Correspondence-based method : Find Correspondences between 2D points and 3D points (PnP, ICP)

  • Template-based method: Extract the gradient information for matching, and refined(ICP)

  • Voting-based method: Every local predicts a result, and refined using RANSAC

  • Regression-based method: Represent pose suitable for CNN



■Summary of 6D pose estimation methods

 

Arxiv:1905.06658



■Correspondence-based method

 

With rich textures to get image features

Arxiv:1905.06658



■PnP solver

 

Estimate extrinsic camera parameter using known 3D points in a world coordinate


There are many many solvers

(e.g. P3P, P5P.., using RANSAC or Eigen value decomposition)

Arxiv:1905.06658



■ICP algorithm