3D Object Recognition and Pose Estimation for Multiple Objects Using Multi-Prioritized RANSAC and Model Updating

@inproceedings{Fenzi20123DOR,
  title={3D Object Recognition and Pose Estimation for Multiple Objects Using Multi-Prioritized RANSAC and Model Updating},
  author={Michele Fenzi and Ralf Dragon and Laura Leal-Taix{\'e} and Bodo Rosenhahn and J{\"o}rn Ostermann},
  booktitle={DAGM/OAGM Symposium},
  year={2012}
}
We present a feature-based framework that combines spatial feature clustering, guided sampling for pose generation, and model updating for 3D object recognition and pose estimation. Existing methods fails in case of repeated patterns or multiple instances of the same object, as they rely only on feature discriminability for matching and on the estimator capabilities for outlier rejection. We propose to spatially separate the features before matching to create smaller clusters containing the… CONTINUE READING
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