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Vol. 177, Issue 8, August 2014, pp. 92-96




Real Time Object Pose Estimation by Two-Step Crossing Line Fitting

1 Minglei Tong, 2 Shudong Chen

1 School of Electronics and Information, Shanghai University of Electric Power, Shanghai 201300, China
2 Institute of Microelectronics of Chinese Academy of Sciences, Shanghai, China

1 E-mail: tongminglei@gmail.com



Received: 21 May 2014 /Accepted: 31 July 2014 /Published: 31 August 2014

Digital Sensors and Sensor Sysstems


Abstract: Real-time industrial vision system for object detection and pose estimation is a promising area yet posing a challenge for high processing efficiency. This paper presents a fast object detection and pose estimation method which captures the specific but common visual pattern as contained in many objects the two-line cross. A two-step grid based scheme is designed, being able to fast detect the crossing line on the objects and thus identifying the object location and pose. Superior efficiency 4 milliseconds per frame on a laptop with 2.53 HZ is reported for real image data, without any parallelization or hardware acceleration. Our method outperforms the state-of-the-art line detection method significantly, and has been applied in embedded inspection platform for pipeline object pose estimation.


Keywords: Object pose estimation, Monocular images, Crossing line fitting.


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