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Transactions on Computational Science XIX pp 143–157Cite as

Pose Refinement of Transparent Rigid Objects with a Stereo Camera

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Part of the book series: Lecture Notes in Computer Science ((TCOMPUTATSCIE,volume 7870))

Abstract

We propose a new method for refining 6-DOF pose of rigid transparent objects. The algorithm is based on minimizing the distance between edges in a test image and a set of edges produced by the training model with a specific pose. The model is scanned with a monocular camera and a 3D sensor such as a Kinect device. The pose is estimated from a monocular image or a stereo pair. The method does not require a CAD model of the object. We demonstrate experimental results on a set of kitchen items essential for any home and office environment.

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Author information

Authors and Affiliations

  1. Itseez, 603000, Korolenko 19b, Nizhny Novgorod, Russia

    Ilya Lysenkov & Victor Eruhimov

Authors
  1. Ilya Lysenkov
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  2. Victor Eruhimov
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Editor information

Editors and Affiliations

  1. Department of Computer Science, University of Calgary, 2500 University Drive N.W., T2N 1N4, Calgary, AB, Canada

    Marina L. Gavrilova

  2. CloudFabriQ Ltd., Warnford Court, 29 Throgmorton Street, EC2N 2AT, London, UK

    C. J. Kenneth Tan

  3. Faculty of Computational Mathematics and Cybernetics, Lomonosov Moscow State University, Leninskiye Gory, 1-52, MSU, 119991, Moscow, Russia

    Anton Konushin

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Lysenkov, I., Eruhimov, V. (2013). Pose Refinement of Transparent Rigid Objects with a Stereo Camera. In: Gavrilova, M.L., Tan, C.J.K., Konushin, A. (eds) Transactions on Computational Science XIX. Lecture Notes in Computer Science, vol 7870. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-39759-2_11

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  • DOI: https://doi.org/10.1007/978-3-642-39759-2_11

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-39758-5

  • Online ISBN: 978-3-642-39759-2

  • eBook Packages: Computer ScienceComputer Science (R0)

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