Patent Number: 8,217,961

Title: Method for estimating 3D pose of specular objects

Abstract: A method estimates a 3D pose of a 3D specular object in an environment. In a preprocessing step, a set of pairs of 2D reference images are generated using a 3D model of the object, and a set of poses of the object, wherein each pair of reference images is associated with one of the poses. Then, a pair of 2D input images are acquired of the object. A rough 3D pose of the object is estimated by comparing features in the pair of 2D input images and the features in each pair of 2D reference images using a rough cost function. The rough estimate is refined using a fine cost function.

Inventors: Chang; Ju Yong (Seoul, KR)

Assignee: Mitsubishi Electric Research Laboratories, Inc.

International Classification: G09G 5/00 (20060101); G06K 9/00 (20060101)

Expiration Date: 2020-07-10 0:00:00