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Single-Image 3D Pose Estimation for Texture-Less Object via Symmetric Prior
Xiaoyuan REN Libing JIANG Xiaoan TANG Junda ZHANG
IEICE TRANSACTIONS on Information and Systems
Publication Date: 2018/07/01
Online ISSN: 1745-1361
Type of Manuscript: LETTER
Category: Image Recognition, Computer Vision
3D, pose estimation, priori-knowledge, texture-less object,
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Extracting 3D information from a single image is an interesting but ill-posed problem. Especially for those artificial objects with less texture such as smooth metal devices, the decrease of object detail makes the problem more challenging. Aiming at the texture-less object with symmetric structure, this paper proposes a novel method for 3D pose estimation from a single image by introducing implicit structural symmetry and context constraint as priori-knowledge. Firstly, by parameterized representation, the texture-less object is decomposed into a series of sub-objects with regular geometric primitives. Accordingly, the problem of 3D pose estimation is converted to a parameter estimation problem, which is implemented by primitive fitting algorithm. Then, the context prior among sub-objects is introduced for parameter refinement via the augmentedLagrange optimization. The effectiveness of the proposed method is verified by the experiments based on simulated and measured data.