Rapid Object Pose Estimation from Feature-based Stereo
نویسندگان
چکیده
This paper addresses the problem of computing the three-dimensional path of a moving rigid object using a calibrated stereoscopic vision setup. The proposed system begins by detecting feature points on the moving object. By tracking these points over time, it produces clouds of 3D points that can be registered, thus giving information about the underlying camera motion. A novel correction scheme is also proposed, that compensates for the accumulated error in the computed positions by the automatic detection of loop back points in the movement of the object. An application to rapid object modelling is presented in which a hand-held object is moved in front of a camera and is reconstructed using silhouette intersection.
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