How can we get the pose (transformed ROI) of non planar object given single target image?

asked 2013-06-07 10:31:36 -0600

sniper
11 ●1 ●2

updated 2013-06-08 02:19:34 -0600

I am implementing 6DOF pose estimation of object. First, my implementation run successfully in the case that given target template object is planar structure. But, my algorithm can not track object which is non planar structure since it use homography for pose estimation (Actually, I need not 6 DOF pose but transformed rect ROI from original template ROI when camera is moved)

When we assume that one image with non-planar structure object is given as template image, Is there method that can get transformed ROI of the template when camera is moved?

answered 2013-06-09 21:34:13 -0600

Mathieu Barnachon

4678 ●18 ●53 http://www.math-barnac...

What you are looking is the POSIT algorithm. It gives you the pose of a non planar object tracked from a camera.

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Thank you very much. I wonder if POSIT can also estimate pose of planar object? Now I do not use intrinsic camera matrix since it need not real 6 dof pose but transformed roi. POSIT need intrinsic camera matrix? If so, we can get approximated intrinsic camera matrix given image resolution?

sniper ( 2013-06-11 20:11:17 -0600 )edit

I read the concept of POSIT. But I think that it is not suitable. I want to estimate of non planar object, but 3D model (or 3D points array) is not given. What I can get are single image about non planar object & correspondences. Wikipedia said that POSIT need 3D points array model and their correspondence in 2D image. It is not same to my condition.

sniper ( 2013-06-12 10:35:39 -0600 )edit

if you don't know the 3D model, how can you get the correspondence?

Han ( 2015-03-31 19:28:29 -0600 )edit

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How can we get the pose (transformed ROI) of non planar object given single target image?

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