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Real-time 3D pose and correspondence from stereo image sequences by combinatorial optimization

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2 Author(s)
Raytchev, B. ; Dept. of Inf. Eng., Hiroshima Univ., Hiroshima, Japan ; Kimura, Y.

In this paper we propose a new solution to the problem of model-based pose estimation and pose tracking, using a sequence of stereo images in which a small number of landmarks are detected on the object of interest. The landmarks are reconstructed in 3D and then the simultaneous pose and correspondence problem is solved with a novel algorithm, PC-SCO, based on stochastic combinatorial optimization. We also use a new algorithm, quaternion-based characteristic polynomial (QCP), which significantly speeds up the quaternion method used in pose alignment, making possible the tracking to be done in real-time.

Published in:

Neural Networks (IJCNN), The 2012 International Joint Conference on

Date of Conference:

10-15 June 2012