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A Real-time Pose Tracking Method Based on 3D Object Model

A 3D model and target technology, applied in the fields of camera measurement, visual navigation, and computer vision, can solve problems such as low calculation efficiency, low pose tracking accuracy, and limited popularization and application, and achieve efficient calculation and real-time target pose Tracking, easy-to-apply effects

Active Publication Date: 2022-04-26
NAT UNIV OF DEFENSE TECH
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  • Summary
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  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

To sum up, factors such as the need for a large amount of labeled data, low computational efficiency, and low pose tracking accuracy limit the popularization and application of deep learning-related target pose tracking methods.

Method used

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  • A Real-time Pose Tracking Method Based on 3D Object Model
  • A Real-time Pose Tracking Method Based on 3D Object Model
  • A Real-time Pose Tracking Method Based on 3D Object Model

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Experimental program
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Effect test

Embodiment Construction

[0056] Embodiments of the present invention will be further described in detail below.

[0057] (1) Contour part model generation

[0058] Using the 3D model of the target, combined with the initial estimation of the target pose, for the vertices in the model, according to figure 2 The imaging model shown is projected onto the image using formula (1), where R and T are the rotation matrix and translation vector describing the motion of the rigid body, respectively, where [X W Y W Z W ] T , [X C Y C Z C ] T and [u v] T are the coordinates of vertices in the world coordinate system, camera coordinate system and image coordinate system respectively, F x , F y 、C x and C y are the camera focal length and principal point parameters, which are obtained through calibration in advance. According to the vertex projection results, calculate the projection area corresponding to the patch, and finally determine the area corresponding to the entire target in the projectio...

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Abstract

The invention relates to a real-time pose tracking method based on a target three-dimensional model. Based on the three-dimensional model of the target, the present invention uses contour features to establish a contour part model, and divides the contour into several local contour segments according to the local contour recognition degree; for each contour segment, a two-dimensional-three-dimensional correspondence is established based on the phase matching criterion in the gradient domain ; Use the geometric relationship between the parts of the rigid body target to eliminate false matching pairs; based on the established two-dimensional-three-dimensional matching pairs, solve the pose parameters through the RPNP algorithm, iterate the whole process until convergence, and realize the target pose tracking in the sequence image. The algorithm steps of the invention are simple and clear, and are easy to apply, and because the three-dimensional model of the target is introduced, the tracking without drift can be realized in the whole process.

Description

technical field [0001] The invention mainly relates to the fields of computer vision, camera measurement, visual navigation, etc., and in particular refers to a real-time target pose tracking method based on a three-dimensional model of the target. [0002] technical background [0003] Accurate, reliable and efficient target pose tracking is one of the key technologies in autonomous operation applications in aerospace, industrial robots and other fields. With the development of computer vision, camera measurement and other technologies, more and more attention has been paid to the vision-based pose tracking method of the target. The vision-based pose tracking method has the advantages of high precision and low cost. [0004] The existing vision-based target pose tracking method is mainly to establish a feature matching set between 2D and 3D, and based on the established feature matching set, complete the calculation of the target pose parameters, and then realize the target ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/246G06T7/13
Inventor 孙晓亮王梓王刚李璋于起峰
Owner NAT UNIV OF DEFENSE TECH
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