Camera localization by CAD model matching

Chuantao Zang, Koichi Hashimoto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Citations (Scopus)

Abstract

This paper presents a system framework to realize camera localization relative to a 3D object. We adopt a Coarse-to-Fine strategy to locate the camera. First a series of rendered Computer Graphics (CG) images are compared with a real camera image. With an iterative linear search for the maximum Mutual Information (MI) among these comparisons, an initial camera pose estimation is obtained. Subsequently, for various kinds of objects, an update step of the pose estimation is realized by an edge-based object tracking method or a further search for the maximum MI with a smaller step size. To eliminate the pose estimation error due to the system coordinates transform error and camera calibration, a visual servo approach is adopted in the final step to adjust the camera to its final pose. The implementation of this framework is introduced in detail. The experiments results show that this framework is effective to locate the camera to its desired pose relative to 3D objects.

Original languageEnglish
Title of host publication2011 IEEE/SICE International Symposium on System Integration, SII 2011
Pages30-35
Number of pages6
DOIs
Publication statusPublished - 2011 Dec 1
Event2011 IEEE/SICE International Symposium on System Integration, SII 2011 - Kyoto, Japan
Duration: 2011 Dec 202011 Dec 22

Publication series

Name2011 IEEE/SICE International Symposium on System Integration, SII 2011

Other

Other2011 IEEE/SICE International Symposium on System Integration, SII 2011
CountryJapan
CityKyoto
Period11/12/2011/12/22

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Control and Systems Engineering

Fingerprint Dive into the research topics of 'Camera localization by CAD model matching'. Together they form a unique fingerprint.

  • Cite this

    Zang, C., & Hashimoto, K. (2011). Camera localization by CAD model matching. In 2011 IEEE/SICE International Symposium on System Integration, SII 2011 (pp. 30-35). [6147414] (2011 IEEE/SICE International Symposium on System Integration, SII 2011). https://doi.org/10.1109/SII.2011.6147414