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6D Pose Estimation Based on Multiple Appearance Features from Single Color Image
Pan W(潘旺); Zhu F(朱枫); Hao YM(郝颖明); Zhang LM(张丽敏)
Department光电信息技术研究室
Conference Name7th IEEE Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017
Conference DateJuly 31 - August 4, 2017
Conference PlaceHawaii, USA
Author of SourceIEEE Robotics and Automation Society
Source Publication2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2017
PublisherIEEE
Publication PlaceNew York
2017
Pages406-411
Indexed ByEI ; CPCI(ISTP)
EI Accession number20183905873556
WOS IDWOS:000447628700075
Contribution Rank1
ISBN978-1-5386-0489-2
Abstract

Template matching methods are widely used to recognize instances of an untextured object and determine the poses. But in many practical cases the false positive rate is high because of similar interference characteristic in images especially in complex and clutter scene. A method based on multiple appearance features is presented in the paper to recognize poorly textured 3D objects and estimate their 6D pose in single color image. The object is distinguished from cluttered environment by multi-features which include the color, size and aspect ratio. Image pyramid is introduced here to improve efficiency. And the CAD model of the object is used to generate a hierarchical shape model in the offline phase for estimating the 6D pose accurately. Lastly the approach is evaluated in our application and publicly available dataset, and achieves good performance both in speed and recognition rate compared with state-of-the-art methods.

Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/21303
Collection光电信息技术研究室
Corresponding AuthorPan W(潘旺)
Affiliation1.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.University of Chinese Academy of Sciences, Beijing 100049, China
3.Key Laboratory of Opto-Electronic Information Processing, CAS, Shenyang 110016, China
4.The Key Lab of Image Understanding and Computer Vision, Liaoning Province, Shenyang 110016, China
Recommended Citation
GB/T 7714
Pan W,Zhu F,Hao YM,et al. 6D Pose Estimation Based on Multiple Appearance Features from Single Color Image[C]//IEEE Robotics and Automation Society. New York:IEEE,2017:406-411.
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