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Tracking of industrial objects by using CAD models

: Wuest, H.; Stricker, D.

Müller, S. ; Gesellschaft für Informatik -GI-, Fachgruppe Virtuelle Realität und Augmented Reality:
Virtuelle und Erweiterte Realität : 3. Workshop der GI-Fachgruppe VR/AR
Aachen: Shaker, 2006 (Berichte aus der Informatik)
ISBN: 3-8322-5474-9
ISBN: 978-3-8322-5474-2
Gesellschaft für Informatik, Fachgruppe Virtuelle Realität und Augmented Reality (Workshop) <3, 2006, Aachen>
Conference Paper
Fraunhofer IGD ()
Augmented reality (AR); object tracking; pose estimation

In this paper we present a model-based approach for real-time camera pose estimation in industrial scenarios. The line model which is used for tracking is generated by rendering a polygonal model and extracting contours out of the rendered scene. By un-projecting a point on the contour with the depth value stored in the z-buffer, the 3D coordinates of the contour can be calculated. For establishing 2D/3D correspondences the 3D control points on the contour are projected into the image and a perpendicular search for gradient maxima for every point on the contour is performed. Multiple hypotheses of 2D image points corresponding to a 3D control point make the pose estimation robust against ambiguous edges in the image.