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Título

Implementation of a 3D pose estimation algorithm

AutorRiba Pi, Edgar
DirectorMoreno-Noguer, Francesc; Peñate-Sánchez, Adrián
Fecha de publicación2015
EditorCSIC-UPC - Instituto de Robótica e Informática Industrial (IRII)
ResumenIn 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.
DescripciónUniversitat 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).
URIhttp://hdl.handle.net/10261/155306
Aparece en las colecciones: (IRII) Tesis
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