To provide a system and a method for recognizing a three-dimensional object in a monocular camera image, and a system and a method for measuring a three-dimensional positional attitude of an object in a camera coordinate system.
In the offline-phase, the invention automatically trains a 3D model that can be used for recognizing the object as well as for determining its 3D pose in the online-phase. For the training, the user must provide a geometric 3D representation of the object, e.g., a 3D CAD model. The training is performed by deriving a sufficient number of 2D views of the object, computing a 2D model for each view, and storing the multitude of 2D models in the 3D model. In the online-phase, the 2D models are matched to a run-time image, providing an approximate 3D pose for one or multiple instances of the searched object. The approximate poses are subsequently refined by using a least-squares matching.
ULRICH MARKUS
STEGER CARSTEN
| JP2002245455A | 2002-08-30 | |||
| JP2006301991A | 2006-11-02 |
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