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Week texture objects pose estimation based on 3D model

机译：基于3D模型的周纹理对象姿态估计

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This paper proposes a 3D pose estimation method for week texture objects, by performing point matching of a test image to a matched rendering image of an object rather than its 3D model. Give a 3D model of an object, we use an exemplar based 2D-3D matching method to estimate the coarse pose of the object. We first obtain the 2D rendering images of each view of the object using its 3D model, and build an exemplar based model using all the rendering images. For a test image, we then perform 2D-3D matching using the proposed model, and the rendering image with the highest score is the best match to the test image. The coarse pose can be obtained using the view parameters of the rending images. Finally, we perform point matching between the matched rendering image and the test image to estimate pose more accurately. The proposed coarse-to-fine pose estimation method can provide stronger constraint, which makes pose estimation more accurate. The experimental results demonstrate the effectiveness of the proposed method.
机译：本文提出了一种针对周纹理对象的3D姿态估计方法，该方法通过将测试图像与对象的匹配渲染图像（而不是其3D模型）进行点匹配。给定对象的3D模型，我们使用基于示例的2D-3D匹配方法来估计对象的粗略姿势。我们首先使用对象的3D模型获取对象每个视图的2D渲染图像，然后使用所有渲染图像构建基于示例的模型。对于测试图像，我们然后使用提出的模型执行2D-3D匹配，并且得分最高的渲染图像是与测试图像的最佳匹配。可以使用渲染图像的视图参数获得粗略姿势。最后，我们在匹配的渲染图像和测试图像之间执行点匹配，以更准确地估计姿势。提出的从粗到精的姿态估计方法可以提供更强的约束，这使得姿态估计更加准确。实验结果证明了该方法的有效性。

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