Direct pose estimation for planar objects

摘要

Estimating six degrees of freedom poses of a planar object from images is an important problem with numerous applications ranging from robotics to augmented reality. While the state-of-the-art Perspective-n-Point algorithms perform well in pose estimation, the success hinges on whether feature points can be extracted and matched correctly on target objects with rich texture. In this work, we propose a two-step robust direct method for six-dimensional pose estimation that performs accurately on both textured and textureless planar target objects. First, the pose of a planar target object with respect to a calibrated camera is approximately estimated by posing it as a template matching problem. Second, each object pose is refined and disambiguated using a dense alignment scheme. Extensive experiments on both synthetic and real datasets demonstrate that the proposed direct pose estimation algorithm performs favorably against state-of-the-art feature-based approaches in terms of robustness and accuracy under varying conditions. Furthermore, we show that the proposed dense alignment scheme can also be used for accurate pose tracking in video sequences.