Method and System for Estimating 3D Pose of Specular Objects
First Claim
Patent Images
30-1. The method of claim 1, further comprising:
- estimating a reflectance of the object in the input images while estimating the pose.
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Abstract
A method estimates a 3D pose of a 3D specular object in an environment. In a preprocessing step, a set of pairs of 2D reference images are generated using a 3D model of the object, and a set of poses of the object, wherein each pair of reference images is associated with one of the poses. Then, a pair of 2D input images are acquired of the object. A rough 3D pose of the object is estimated by comparing features in the pair of 2D input images and the features in each pair of 2D reference images using a rough cost function. The rough estimate is optionally refined using a fine cost function.
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Citations
38 Claims
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30-1. The method of claim 1, further comprising:
estimating a reflectance of the object in the input images while estimating the pose.
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32-2. The method of claim 1, further comprising:
actively illuminating the surrounding with an illumination source
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32-3. The method of claim 1, where the input images are acquired using polarization to estimate specular components.
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33-4. The method of claim 1, further comprising:
illuminating the scene with different colors, and performing the method independently for each color.
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38. An apparatus for estimating a 3D pose of a 3D object in an environment, wherein the object has a specular surface, comprising:
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a rendering engine configured to render a set of pairs of 2D reference images using a 3D model of the object, and a set of poses of the object, wherein each pair of reference images is associated with one of the poses; a camera configure to acquire a pair of 2D input images of the object; and means, implemented in a processor, for estimating a 3D pose of the object by comparing features in the pair of 2D input images and the features in each pair of 2D reference images using a cost function matching the features.
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Specification