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A Pose Tracking Method for Monocular Textureless 3D Objects Based on 3D Geometric Model

A technology of 3D objects and 3D geometry, applied in 3D object recognition, character and pattern recognition, instruments, etc., can solve the problems of reduced stability of 3D tracking algorithm and cluttered object background

Active Publication Date: 2021-08-03
SHANDONG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The solution to the second problem is relatively mature, so existing 3D object tracking algorithms focus on how to robustly establish 3D-2D associations
When the image or object has motion blur, the object is occluded, or the background of the object is cluttered, the acquisition of the edge or outline of the object on the image will be disturbed, and the stability of the 3D tracking algorithm will be reduced

Method used

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  • A Pose Tracking Method for Monocular Textureless 3D Objects Based on 3D Geometric Model
  • A Pose Tracking Method for Monocular Textureless 3D Objects Based on 3D Geometric Model
  • A Pose Tracking Method for Monocular Textureless 3D Objects Based on 3D Geometric Model

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Embodiment 1

[0059] A monocular texture-free three-dimensional object posture tracking method based on a three-dimensional geometric model, comprising the following steps:

[0060] 1) Initialize the system state, set the relocation counter to be 0; the attitude tracking method of the present invention is based on the hardware implementation of the computer and the video camera, and the system corresponding to the system state refers to the software system for attitude tracking provided in the computer. A relocation counter is set in the software system;

[0061] 2) Collect the moving image sequence or video of the three-dimensional object; the moving image sequence or video of the three-dimensional object is collected by the camera; after the moving image sequence or video of the three-dimensional object is collected, it is transmitted to the input computer in real time, and the computer software system performs follow-up on the current frame processing of steps;

[0062] 3) Judging the c...

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Abstract

The invention relates to a monocular texture-free three-dimensional object attitude tracking method based on a three-dimensional geometric model. The method of the present invention uses the edge features of the object to estimate the pose, does not rely on the feature points on the surface of the object, and is suitable for tracking three-dimensional objects with weak textures or no textures; the method of the present invention does not install markers or hardware positioning sensors on the three-dimensional objects It can solve the pose parameters (rotation and translation parameters of the object relative to the camera) of the three-dimensional object without texture in real time, align the virtual object generated by the computer with the three-dimensional object in the image sequence, and generate a seamless fusion of virtual and real superposition effects.

Description

technical field [0001] The invention relates to a monocular texture-free three-dimensional object posture tracking method based on a three-dimensional geometric model, and belongs to the technical field of three-dimensional tracking methods. Background technique [0002] As one of the key technologies for registering virtual information and the real world in augmented reality applications, 3D object tracking has attracted a large number of researchers to invest in research. Many 3D tracking methods have been proposed, but 3D object tracking is still an open and challenging subject. On the one hand, the above challenges come from the physical properties of the object itself, such as the lack of texture of the object, the reflection of the surface of the object, etc.; on the other hand, it comes from the environment in which the object is located, such as complex backgrounds, occlusions, and changing lighting. Generally speaking, the 3D object tracking algorithm mainly focuse...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06K9/00G06K9/46
CPCG06V20/64G06V20/42G06V10/443
Inventor 秦学英王斌钟凡
Owner SHANDONG UNIV
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