Pose estimation method and apparatus
First Claim
1. A pose estimation method comprising the steps of:
- a) measuring reflectivity or color at every point of a reference object under varying illuminations to produce a plurality of illumination variation textures, each representing a brightness value of said every point of the reference object, and calculating basis textures approximating said illumination variation textures;
b) extracting feature points from said reference object and extracting feature points from an input image of a target object corresponding to the feature points of the reference object;
c) creating a plurality of pose candidates from the extracted feature points of said reference object and the extracted feature points of said input image;
d) creating, for each of said pose candidates, an image space of basis images representing brightness values of a plurality of two-dimensional images of said target object which would be obtained if said target object were placed in the same position and orientation as said each pose candidate and illuminated under varying lighting conditions by projecting said basis textures onto said image space of said target object;
e) detecting, for each of said pose candidates, an image candidate within said image space of basis images by using said basis textures and determining a distance from the image candidate to said input image of said target object; and
f) selecting one of the pose candidates corresponding to the image candidate whose distance to said input image is smallest.
1 Assignment
0 Petitions
Accused Products
Abstract
A three-dimensional image data is formulated and saved in a memory for indicating a three-dimensional shape of an object and reflectivity or color at every point of the object. For each of multiple pose candidates, an image space is created for representing brightness values of a set of two-dimensional images of the object which is placed in the same position and orientation as the each pose candidate. The brightness values are those which would be obtained if the object is illuminated under varying lighting conditions. For each pose candidate, an image candidate is detected within the image space using the 3D model data and a distance from the image candidate to an input image is determined. Corresponding to the image candidate whose distance is smallest, one of the pose candidates is selected. The image space is preferably created from each of a set of pose variants of each pose candidate.
24 Citations
27 Claims
-
1. A pose estimation method comprising the steps of:
-
a) measuring reflectivity or color at every point of a reference object under varying illuminations to produce a plurality of illumination variation textures, each representing a brightness value of said every point of the reference object, and calculating basis textures approximating said illumination variation textures; b) extracting feature points from said reference object and extracting feature points from an input image of a target object corresponding to the feature points of the reference object; c) creating a plurality of pose candidates from the extracted feature points of said reference object and the extracted feature points of said input image; d) creating, for each of said pose candidates, an image space of basis images representing brightness values of a plurality of two-dimensional images of said target object which would be obtained if said target object were placed in the same position and orientation as said each pose candidate and illuminated under varying lighting conditions by projecting said basis textures onto said image space of said target object; e) detecting, for each of said pose candidates, an image candidate within said image space of basis images by using said basis textures and determining a distance from the image candidate to said input image of said target object; and f) selecting one of the pose candidates corresponding to the image candidate whose distance to said input image is smallest. - View Dependent Claims (2, 3, 4, 5, 6)
-
-
7. A pose estimation method comprising the steps of:
-
a) measuring reflectivity or color at every point of a reference object under varying illuminations to produce a plurality of illumination variation textures, each representing a brightness value of said every point of the reference object, and calculating basis textures approximating said illumination variation textures; b) extracting feature points from said reference object and extracting feature points from an input image of a target object corresponding to the feature points of the reference object; c) estimating a possible error of the extracted feature points of said input image; d) creating a plurality of pose candidates from the extracted feature points of said reference object and the extracted feature points of said input image; e) successively reading one of said pose candidates; f) creating a plurality of pose variants from said one pose candidate such that each of the pose variants is displaced in position and orientation by a predetermined amount from said one pose candidate over a range determined by said possible error estimated by step (c); g) creating, for each of said pose variants, an image space of basis images representing brightness values of a plurality of two-dimensional images of said target object which would be obtained if said target object were placed in the same position and orientation as said each pose variant, and illuminated under varying lighting conditions by projecting said basis textures onto image space of said pose candidates; h) detecting, for each said pose variant, an image candidate within said image space of basis images by using said basis textures and determining a distance from the image candidate to said input image of said target object; i) repeating steps (e) to (h) to produce a plurality of said image candidates for each of said pose candidates; and j) selecting one of the pose candidates corresponding to the image candidate whose distance to said input image is smallest. - View Dependent Claims (8, 9)
-
-
10. A pose estimation apparatus comprising:
-
a three-dimensional model creating mechanism for measuring reflectivity or color at every point of a reference object under varying illuminations to produce a plurality of illumination variation textures, each representing a brightness value of said every point of the reference object, and calculating basis textures approximating said illumination variation textures; a feature extracting mechanism for extracting feature points from said reference object and extracting feature points from an input image of a target object corresponding to the feature points of the reference object; a pose candidate creating mechanism for creating a plurality of pose candidates from the extracted feature points of said object and the extracted feature points of said input image; an image space creating mechanism for creating, for each of said pose candidates, basis images of an image space representing brightness values of a plurality of two-dimensional images of said target object which would be obtained if said target object were placed in the same position and orientation as said each pose candidate and illuminated under varying lighting conditions; an image candidate detecting mechanism for detecting, for each of said pose candidates, an image candidate within said image space by using said basis textures and determining a distance from the image candidate to said input image of said target object; and an image candidate selecting mechanism for selecting one of the pose candidates which corresponds to the image candidate whose distance to said input image is smallest. - View Dependent Claims (11, 12, 13, 14, 15)
-
-
16. A pose estimation apparatus comprising:
-
a memory; a 3D model data and measuring reflectivity or color at every point of said reference object under varying illuminations to produce a plurality of illumination variation textures, each representing a brightness value of said every point of the reference object, and calculating basis textures approximating said illumination variation textures; a feature points extracting and estimating mechanism for extracting feature points from said reference object and extracting feature points from an input image of a target object corresponding to the feature points of the reference object and estimating a possible error of the extracted feature points of said input image; a pose candidate creating mechanism for creating a plurality of pose candidates from the extracted feature points of said reference object and the extracted feature points of said input image; a pose variants creating mechanism for successively retrieving a pose candidate from said memory and creating a plurality of pose variants from the retrieved pose candidate such that each of the pose variants is displaced in position and orientation by a predetermined amount from the retrieved pose candidate over a range determined by the estimated possible error; an image space creating mechanism for creating, for each of said pose variants, an image space of basis images representing brightness values of a plurality of two-dimensional images of said target object which would be obtained if said target object were placed in the same position and orientation as said each pose variant, and illuminated under varying lighting conditions by projecting said basis textures onto image space of said pose candidates; and an image candidate detecting and selecting mechanism for detecting, for each said pose variant, an image candidate within said image space of basis images by using said basis textures, determining a distance from the image candidate to said input image of said target object and selecting one of the pose candidates corresponding to the image candidate whose distance to said input image is smallest. - View Dependent Claims (17, 18)
-
-
19. A computer-readable storage medium containing a computer-executable program that causes a computer to execute the steps of:
-
a) measuring reflectivity or color at every point of a reference object under varying illuminations to produce a plurality of illumination variation textures, each representing a brightness value of said every point of the reference object, and calculating basis textures approximating said illumination variation textures; b) extracting feature points from said reference object and extracting feature points from an input image of a target object corresponding to the feature points of the reference object; c) creating a plurality of pose candidates from the extracted feature points of said reference object and the extracted feature points of said input image; d) creating, for each of said pose candidates, an image space of basis images representing brightness values of a plurality of two-dimensional images of said target object which would be obtained if said target object were placed in the same position and orientation as said each pose candidate and illuminated under varying lighting conditions by projecting said basis textures onto said image space of said target object; e) detecting, for each of said pose candidates, an image candidate within said image space of basis images by using said basis textures and determining a distance from the image candidate to said input image of said target object; and f) selecting one of the pose candidates which corresponds to the image candidate whose distance to said input image is smallest. - View Dependent Claims (20, 21, 22, 23, 24)
-
-
25. A computer-readable storage medium containing a computer-executable program that causes a computer to execute the steps of:
-
a) measuring reflectivity or color at every point of a reference object under varying illuminations to produce a plurality of illumination variation textures, each representing a brightness value of said every point of the reference object, and calculating basis textures approximating said illumination variation textures; b) extracting feature points from said reference object and extracting feature points from an input image of a target object corresponding to the feature points of the reference object; c) estimating a possible error of the extracted feature points of said input image; d) creating a plurality of pose candidates from the extracted feature points of said reference object and the extracted feature points of said input image; e) successively reading one of said pose candidates; f) creating a plurality of pose variants from said one pose candidate such that each of the pose variants is displaced in position and orientation by a predetermined amount from said one pose candidate over a range determined by said possible error estimated by step (c); g) creating, for each of said pose variants, an image space of basis images representing brightness values of a plurality of two-dimensional images of said target object which would be obtained if said target object were placed in the same position and orientation as said each pose variant, and illuminated under varying lighting conditions by projecting said basis textures onto image space of said pose candidates; h) detecting, for each said pose variant, an image candidate within said image space of basis images by using said basis textures and determining a distance from the image candidate to said input image and said target; i) repeating steps (e) to (h) to produce a plurality of said image candidates for each of said pose candidates; and j) selecting one of the pose candidates corresponding to the image candidate whose distance to said input image is smallest. - View Dependent Claims (26, 27)
-
Specification