Texture-based 3D Objects Tracking and Pose Estimation Using a Monocular Camera

• Main Authors: Chih-Kun Chiu, 邱志焜
• Other Authors: Kao-Shing Hwang
• Format: Others
• Language: zh-TW
• Published: 2018
• Online Access: http://ndltd.ncl.edu.tw/handle/h97wx5

碩士 === 國立中山大學 === 電機工程學系研究所 === 106 === Thesis proposes a simple and effective method for a cuboid with six planes. First, set the markpoints for each side of the object, and then find the feature points of template and current image through the ORB(Oriented Features from Accelerated Segment Test and Rotated Binary Robust Independent Elementary Features) and describes the feature points each other, finding the corresponding feature point-pair relationship with high similarity through comparison, and use corresponding point relationship and random sampling algorithm to estimate the homogenous matrix of planar transformation, so it can get the current image 2-D plane position. Obtaining the first location area be the current region of interest to eliminate the obvious error of the first pairing and reduce the error of estimating the homogeneous matrix for obtaining a better homogeneous matrix. Set the camera to a fixed position and be the reference coordinates for world coordinates. Measure 8 corner points of the cuboid of each template surface, taking the actual length of the reference coordinate point as the marker point in the template space. The rotation vector method is used to find the most matching template plane for the current image, current image position corresponds to the order of points in the space, there exists a transformation relationship in which the changes in space are unknown to us, as long as iterations are repeated to calculate iteratively the position of the object in current image space and template image space with the four 2-D-3-D corresponding points, you can find the object rotation and translation values, in the projection back 2-D plane can know the position of the bottom of the cuboid. In this way, you can know the data about the process of tracking cuboid.