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This research project deals with the 2D-3D pose
estimation problem. Pose estimation itself means to estimate the
relative position and orientation (rotation and translation) of a (known) 3D object with respect to a reference camera system.
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The main focus of our work concentrates on the geometric modeling and
application of the pose problem.
Therefore we use as mathematical language the conformal geometric algebra,
which is a universal Clifford algebra.
It provides a homogeneous
model for stereographically projected points on a hypersphere and
therefore couples kinematics with projective geometry. This representation
is useful for many computer vision or robot vision tasks.
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For the pose scenario, 3D object models are treated two-fold, feature-based and
free-form based:
The reason for this approach is that starting from simple features (e.g.
point features) an extended scenario is derived, which deals with
higher order features such as lines, planes, circles, spheres, kinematic
chains or cycloidal
curves. Cycloidal curves are defined as circles rolling on circles
and are treated as 3D entities within the pose scenario. This scenario
extends to general free-form contours by interpreting contours
generated with 3D Fourier descriptors as n-times nested
cycloidal curves.
The following movies visualize some properties of our developed algorithms (click on
the images):
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Our algorithm for pose estimation of kinematic chains is robust
and can be used for different tasks, e.g. for a
visual remote controling
of a manipulator.
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In our free-form pose estimation algorithms we are able to
detect outliers during pose estimation and additionally to deal with
multiple and partial hidden object contours.
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The next sequence
shows pose results of two nested
contours. The other sequence shows further the possibility to model
slight object deformations by fusing kinematic chains within our
approach for free-form object modeling.
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Our future work will continue with free-form pose estimation of surfaces.
The developed algorithms are also applied in our
navigation project for selflocalization of mobile robots.
Questions, remarks:
Bodo Rosenhahn
Christian Perwass
Oliver Granert
Gerald Sommer
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| Publications: | | 2004 | Pose Estimation of Free-form Objects
Rosenhahn, B., Sommer, G., Klette, R.
Technical Report 0401, Christian-Albrechts-Universität zu Kiel, Institut für Informatik und Praktische Mathematik, März 2004 | PDF , BibTeX |
| 2003 | Pose estimation of free-form surface models
Rosenhahn, B., Perwass, C., Sommer, G.
In 25. Symposium für Mustererkennung, DAGM 2003, Magdeburg, Vol. 2781 of LNCS, pp. 574-581, Springer-Verlag, Berlin, 2003. | PDF , BibTeX |
| 2003 | Pose Estimation Revisited
Rosenhahn, B.
Dissertation, Institut für Informatik und Praktische Mathematik, Christian-Albrechts-Universität zu Kiel, 2003. | PDF , BibTeX, Abstract |
| 2002 | Pose Estimation of 3D Free-form Contours
Rosenhahn, B., Perwass, C., Sommer, G.
Technical Report 0207, Christian-Albrechts-Universität zu Kiel, Institut für Informatik und Praktische Mathematik, August 2002 | PDF , BibTeX |
| 2002 | Pose Estimation in Conformal Geometric Algebra, Part I: The Stratification of Mathematical Spaces, PartII: Real-time Pose Estimation using Extended Feature Concepts
Rosenhahn, B., Sommer, G.
Technical Report 0206, Christian-Albrechts-Universität zu Kiel, Institut für Informatik und Praktische Mathematik, November 2002 | PDF , BibTeX |
| 2002 | Pose estimation of 3D free-form contours in conformal geometry
Rosenhahn, B., Perwass, C., Sommer, G.
In D. Kenwright, editor, Proceedings of Image and Vision Computing, IVCNZ, Auckland, NZ, pp. 29-34. 2002 | PDF , BibTeX |
| 2002 | Adaptive pose estimation for different corresponding entities
Rosenhahn, B., Sommer, G.
In L. Van Gool, editor, Pattern Recognition, 24. Symposium für Mustererkennung, Zürich, September 2002, Vol. 2449 of LNCS, pp. 265-273. Springer-Verlag, Berlin Heidelberg, 2002 | PDF , BibTeX |
| 2002 | Monocular pose estimation of kinematic chains
Rosenhahn, B., Granert, O., Sommer, G.
In L. Dorst, C. Doran and J. Lasenby, editors, Applications of Geometric Algebra in Computer Science and Engineering, pp. 373-375. Proc. AGACSE 2001, Cambridge, UK, Birkhäuser Boston, 2002 | PDF, PS , BibTeX |
| 2001 | Tracking with a novel pose estimation algorithm
Rosenhahn, B., Krüger, N., Rabsch, T., Sommer, G.
In R. Klette, S. Peleg and G. Sommer, editors, International Workshop ``Robot Vision 2001ŽŽ Auckland, New-Zealand, Vol. 1998 of LNCS, pp. 9-18. Springer-Verlag, 2001 | PDF, PS , BibTeX |
| 2000 | Pose estimation in the language of kinematics
Rosenhahn, B., Zhang, Y., Sommer, G.
In G. Sommer and Y. Zeevi, editors, 2nd International Workshop on Algebraic Frames for the Perception-Action Cycle, AFPAC 2000, Kiel, Vol. 1888 of LNCS, pp. 284-293. Springer-Verlag, 2000 | PDF, PS , BibTeX |
| 2000 | Extended Kalman filter design for motion estimation by point and line observations
Zhang, Y., Rosenhahn, B., Sommer, G.
In G. Sommer and Y. Zeevi, editors, 2nd International Workshop on Algebraic Frames for the Perception-Action Cycle, AFPAC 2000, Kiel, Vol. 1888 of LNCS, pp. 339-348. Springer-Verlag, 2000 | PDF , BibTeX |
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