Abstract
We propose a framework for automatic modeling, detection, and tracking of 3D objects with a Kinect. The detection part is mainly based on the recent template-based LINEMOD approach [1] for object detection. We show how to build the templates automatically from 3D models, and how to estimate the 6 degrees-of-freedom pose accurately and in real-time. The pose estimation and the color information allow us to check the detection hypotheses and improves the correct detection rate by 13% with respect to the original LINEMOD. These many improvements make our framework suitable for object manipulation in Robotics applications. Moreover we propose a new dataset made of 15 registered, 1100+ frame video sequences of 15 various objects for the evaluation of future competing methods.
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Hinterstoisser, S. et al. (2013). Model Based Training, Detection and Pose Estimation of Texture-Less 3D Objects in Heavily Cluttered Scenes. In: Lee, K.M., Matsushita, Y., Rehg, J.M., Hu, Z. (eds) Computer Vision – ACCV 2012. ACCV 2012. Lecture Notes in Computer Science, vol 7724. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-37331-2_42
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DOI: https://doi.org/10.1007/978-3-642-37331-2_42
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