An Object Pose Estimation System Using A Single Camera

This paper presents the framework for a CAD-based monocular vi- sion system that estimates an object pose. Estimation of pose from a single view is discussed according to an a priori 3-d ob- ject model that includes key primitive ele- ments and the relations among them. Es- timation strategy is discussed briefly, and several algorithms used in a pose estima- tion are presented. The proposed sys- tem - implemented in four subsystems for ob ject-image correspondence, feasible pose enumeration, pose selection, and estima- tion refinement - integrates sensor infor- mation and a priori knowledge about the treated objects. Experimental results for synthesized and real images show the effec- tiveness of this system for pose estimation and 3-d pose tracking.