Efficient Recognition and 6D Pose Tracking of Markerless Objects with RGB-D and Motion Sensors on Mobile Devices

Sheng-Chu Huang, Wei-Lun Huang, Yi-Cheng Lu, Ming-Han Tsai, I-Chen Lin, Yo-Chung Lau, Hsu-Hang Liu
2019 Proceedings of the 14th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications  
This paper presents a system that can efficiently detect objects and estimate their 6D postures with RGB-D and motion sensor data on a mobile device. We apply a template-based method to detect the pose of an object, in which the matching process is accelerated through dimension reduction of the vectorized template matrix. After getting the initial pose, the proposed system then tracks the detected objects by a modified bidirectional iterative closest point algorithm. Furthermore, our system
more » ... ks information from the inertial measurement unit on a mobile device to alleviate intensive computation for ease of interactive applications.
doi:10.5220/0007692603750382 dblp:conf/grapp/HuangHLTLLL19 fatcat:5wlk63dsrfepbgtbl3ab3ijkzu