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Tracking of industrial objects by using CAD models

: Wuest, Harald; Stricker, Didier

Journal of Virtual Reality and Broadcasting. Online journal 4 (2007), Nr.1, 9 S.
ISSN: 1860-2037
Fraunhofer IGD ()
augmented reality (AR); line tracking; CAD model

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.