Model-Based 3D Object Localization Using Occluding Contours
This paper describes a method for model-based 3D object localization. The object model consists of a triangular surface mesh, model points, and model geometrical features. Model points and model geometrical features are generated using contour generators, which are estimated by the occluding contours of projected images of the triangular surface mesh from multiple viewing directions, and they are maintained depending on the viewing direction. Multiple hypotheses for approximate model position and orientation are generated by comparing model geometrical features and data geometrical features. The multiple hypotheses are limited by using the viewing directions that are used to generate model geometrical features. Each hypothesis is verified and improved by using model points and 3D boundaries, which are reconstructed by segment-based stereo vision. In addition, each hypothesis is improved by using the triangular surface mesh and 3D boundaries. Experimental results show the effectiveness of the proposed method.
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