An Object Pose Estimation System Using A Single Camera

T. Shakunaga

doi:10.1109/IROS.1992.594521

An Object Pose Estimation System Using A Single Camera

T. Shakunaga

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

12 Citations (Scopus)

Abstract

This paper presents the framework for a CAD-based monocular vision system that estimates an object pose. Estimation of pose from a single view is discussed according to an a priori 3-d object model that includes key primitive elements and the relations among them. Estimation strategy is discussed briefly, and several algorithms used in a pose estimation are presented. The proposed system - implemented in four subsystems for object-image correspondence, feasible pose enumeration, pose selection, and estimation refinement - integrates sensor information and a priori knowledge about the treated objects. Experimental results for synthesized and real images show the effectiveness of this system for pose estimation and 3-d pose tracking.

Original language	English
Title of host publication	IROS 1992 - Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems
Subtitle of host publication	Sensor-Based Robotics and Opportunties for its Industrial Applications
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1053-1060
Number of pages	8
ISBN (Electronic)	0780307372
DOIs	https://doi.org/10.1109/IROS.1992.594521
Publication status	Published - 1992
Externally published	Yes
Event	1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992 - Raleigh, United States Duration: Jul 7 1992 → Jul 10 1992

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
Volume	2
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Conference

Conference	1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992
Country/Territory	United States
City	Raleigh
Period	7/7/92 → 7/10/92

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

Access to Document

10.1109/IROS.1992.594521

Cite this

Shakunaga, T. (1992). An Object Pose Estimation System Using A Single Camera. In IROS 1992 - Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems: Sensor-Based Robotics and Opportunties for its Industrial Applications (pp. 1053-1060). Article 594521 (IEEE International Conference on Intelligent Robots and Systems; Vol. 2). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.1992.594521

An Object Pose Estimation System Using A Single Camera. / Shakunaga, T.
IROS 1992 - Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems: Sensor-Based Robotics and Opportunties for its Industrial Applications. Institute of Electrical and Electronics Engineers Inc., 1992. p. 1053-1060 594521 (IEEE International Conference on Intelligent Robots and Systems; Vol. 2).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Shakunaga, T 1992, An Object Pose Estimation System Using A Single Camera. in IROS 1992 - Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems: Sensor-Based Robotics and Opportunties for its Industrial Applications., 594521, IEEE International Conference on Intelligent Robots and Systems, vol. 2, Institute of Electrical and Electronics Engineers Inc., pp. 1053-1060, 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992, Raleigh, United States, 7/7/92. https://doi.org/10.1109/IROS.1992.594521

Shakunaga T. An Object Pose Estimation System Using A Single Camera. In IROS 1992 - Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems: Sensor-Based Robotics and Opportunties for its Industrial Applications. Institute of Electrical and Electronics Engineers Inc. 1992. p. 1053-1060. 594521. (IEEE International Conference on Intelligent Robots and Systems). doi: 10.1109/IROS.1992.594521

Shakunaga, T. / An Object Pose Estimation System Using A Single Camera. IROS 1992 - Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems: Sensor-Based Robotics and Opportunties for its Industrial Applications. Institute of Electrical and Electronics Engineers Inc., 1992. pp. 1053-1060 (IEEE International Conference on Intelligent Robots and Systems).

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AB - This paper presents the framework for a CAD-based monocular vision system that estimates an object pose. Estimation of pose from a single view is discussed according to an a priori 3-d object model that includes key primitive elements and the relations among them. Estimation strategy is discussed briefly, and several algorithms used in a pose estimation are presented. The proposed system - implemented in four subsystems for object-image correspondence, feasible pose enumeration, pose selection, and estimation refinement - integrates sensor information and a priori knowledge about the treated objects. Experimental results for synthesized and real images show the effectiveness of this system for pose estimation and 3-d pose tracking.

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An Object Pose Estimation System Using A Single Camera

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