A monocular texture-free three-dimensional object attitude tracking method based on a three-dimensional geometric model.

A technology of 3D objects and 3D geometry, applied in 3D object recognition, character and pattern recognition, instruments, etc., can solve the problems of reduced stability of 3D tracking algorithm and cluttered object background

Active Publication Date: 2019-02-12
SHANDONG UNIV
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  • Abstract
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AI Technical Summary

Benefits of technology

This patented technology allows us to track both 2D and 3D objects accurately during their movement within an environment while maintaining accurate orientation data. It involves utilizing specialized techniques like stereo matching algorithms that use specific mathematical relationships between images captured from different cameras' angles. These methods help improve accuracy when combining multiple images into one composite frame.

Problems solved by technology

Technological Problem addressed in this patents are related to improving the accuracy and efficiency of 3D registration systems (also called stereo) due to their complexity and limitations. Specifically, these technical solutions involve finding suitable matches among different surfaces within images captured through cameras, identifying specific areas where there are strong contrast, selecting relevant parts during reconstruction process, and performing optimal alignment computation while avoiding interfering noise sources like ambient lights. Additionally, considering the influence of depth variations caused by environmental factors, including shading effects and movement blurs, we propose proposals involving zone-to-zone transformation techniques to improve the overall stability of 3d trackings.

Method used

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  • A monocular texture-free three-dimensional object attitude tracking method based on a three-dimensional geometric model.
  • A monocular texture-free three-dimensional object attitude tracking method based on a three-dimensional geometric model.
  • A monocular texture-free three-dimensional object attitude tracking method based on a three-dimensional geometric model.

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Embodiment 1

[0059] A monocular texture-free three-dimensional object posture tracking method based on a three-dimensional geometric model, comprising the following steps:

[0060] 1) Initialize the system state, set the relocation counter to be 0; the attitude tracking method of the present invention is based on the hardware implementation of the computer and the video camera, and the system corresponding to the system state refers to the software system for attitude tracking provided in the computer. A relocation counter is set in the software system;

[0061] 2) Collect the moving image sequence or video of the three-dimensional object; the moving image sequence or video of the three-dimensional object is collected by the camera; after the moving image sequence or video of the three-dimensional object is collected, it is transmitted to the input computer in real time, and the computer software system performs follow-up on the current frame processing of steps;

[0062] 3) Judging the curr

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Abstract

The invention relates to a monocular texture-free three-dimensional object attitude tracking method based on a three-dimensional geometric model. The method of the invention uses the edge features ofthe object to carry out attitude estimation, does not depend on the feature points of the object surface, and is suitable for weak texture or texture-free three-dimensional object tracking. The methodof the invention can solve the attitude parameters of a texture-free three-dimensional object (the rotation and translation parameters of the object relative to the camera) in real time without installing a mark or a hardware positioning sensor on the three-dimensional object, the virtual object generated by computer is aligned with the three-dimensional object in the image sequence, and the virtual-real superposition effect of seamless fusion is generated.

Description

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Claims

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Application Information

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Owner SHANDONG UNIV
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