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Implementation of a 3D pose estimation algorithm

AuthorsRiba Pi, Edgar
AdvisorMoreno-Noguer, Francesc ; Peñate-Sánchez, Adrián
Issue Date2015
PublisherCSIC-UPC - Instituto de Robótica e Informática Industrial (IRII)
AbstractIn this project, I present the implementation of a 3D pose estimation algorithm for rigid objects considering a single monocular camera. The algorithm based on the matching between natural feature points and a textured 3D model, recovers in an efficient way the 3D pose of a given object using a PnP method. Furthermore, during this project a C++ implementation of the UPnP approach published by the supervisors of this project has been done. Both the algorithm and the UPnP source codes have been included in the OpenCV library. The first as a tutorial explaining how developers could implement this kind of algorithms, and the second as an extension of the Camera Calibration and 3D Reconstruction module. In order to ensure the quality of the code, both passed the accuracy and performance tests imposed by the organization before merging the code in the new released version.
DescriptionUniversitat Politècnica de Catalunya. Escola Tècnica Superior d’Enginyeria Industrial de Barcelona (ETSEIB). Systems Engineering, Automation and Industrial Informatics (ESAII). Master’s Degree in Automatic Control and Robotics. Insitut de Robòtica i Informàtica Industrial (CSIC-UPC).
Appears in Collections:(IRII) Tesis
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