Skip to Main content Skip to Navigation
Journal articles

Perspective-2-Ellipsoid: Bridging the Gap Between Object Detections and 6-DoF Camera Pose

Vincent Gaudillière 1 Gilles Simon 1 Marie-Odile Berger 1
1 MAGRIT-POST - Augmentation visuelle d'environnements complexes
Inria Nancy - Grand Est, LORIA - ALGO - Department of Algorithms, Computation, Image and Geometry
Abstract : Recent years have seen the emergence of very effective ConvNet-based object detectors that have reconfigured the computer vision landscape. As a consequence, new approaches that propose object-based reasoning to solve traditional problems, such as camera pose estimation, have appeared. In particular, these methods have shown that modelling 3D objects by ellipsoids and 2D detections by ellipses offers a convenient manner to link 2D and 3D data. Following that promising direction, we propose here a novel object-based pose estimation algorithm that does not require any sensor but a RGB camera. Our method operates from at least two object detections, and is based on a new paradigm that enables to decrease the Degrees of Freedom (DoF) of the pose estimation problem from six to three, while two simplifying yet realistic assumptions reduce the remaining DoF to only one. Exhaustive search is performed over the unique unknown parameter to recover the full camera pose. Robust algorithms designed to deal with any number of objects as well as a refinement step are introduced. Effectiveness of the method has been assessed on the challenging T-LESS and Freiburg datasets.
Document type :
Journal articles
Complete list of metadatas

Cited literature [23 references]  Display  Hide  Download

https://hal.archives-ouvertes.fr/hal-02886633
Contributor : Vincent Gaudilliere <>
Submitted on : Wednesday, July 1, 2020 - 4:30:19 PM
Last modification on : Thursday, July 2, 2020 - 3:46:23 AM

File

RAL2020_cameraready.pdf
Files produced by the author(s)

Identifiers

Collections

Citation

Vincent Gaudillière, Gilles Simon, Marie-Odile Berger. Perspective-2-Ellipsoid: Bridging the Gap Between Object Detections and 6-DoF Camera Pose. IEEE Robotics and Automation Letters, IEEE In press, pp.1-1. ⟨10.1109/LRA.2020.3005387⟩. ⟨hal-02886633⟩

Share

Metrics

Record views

64

Files downloads

96