Real Time Object Pose Estimation by Two-Step Crossing Line Fitting
Real-time industrial vision system for object detection and pose estimation is a promising area yet posing a challenge for high processing efficiency. This paper presents a fast object detection and pose estimation method which captures the specific but common visual pattern as contained in many obj...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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IFSA Publishing, S.L.
2014-08-01
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| Series: | Sensors & Transducers |
| Subjects: | |
| Online Access: | http://www.sensorsportal.com/HTML/DIGEST/august_2014/Vol_177/P_2312.pdf |
| Summary: | Real-time industrial vision system for object detection and pose estimation is a promising area yet posing a challenge for high processing efficiency. This paper presents a fast object detection and pose estimation method which captures the specific but common visual pattern as contained in many objects – the two-line cross. A two-step grid based scheme is designed, being able to fast detect the crossing line on the objects and thus identifying the object location and pose. Superior efficiency – 4 milliseconds per frame on a laptop with 2.53 HZ is reported for real image data, without any parallelization or hardware acceleration. Our method outperforms the state-of-the-art line detection method significantly, and has been applied in embedded inspection platform for pipeline object pose estimation.
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| ISSN: | 2306-8515 1726-5479 |