how to estimate Pose of circular object?

asked 2019-02-25 11:29:56 -0500

opencvr gravatar image

updated 2019-02-26 06:01:58 -0500

Hello, I am beginner in OpenCV. I want to estimate Pose of circular object using stereo camera or 3d camera and pick it. Object looks like exaclty link text . I can detect circle in image using Hough circle or also with blob detector. But how can I proceed further to estimate Pose? I have CAD model available for this object.

any idea would be helpful.

Thanks.

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Comments

1

I would like to try to answer you question but I need first to ask you some questions by myself.

By estimate pose do you mean x,y,z in 3D? What you have right now is that you can detect object in every single 2D frame in each of your camera streams? If its question of 3D do you have your stereo-pair calibrated - do you have map of depth? Of course there is more to be set (background, environment) but maybe that's all for now...

Tomek1911 gravatar imageTomek1911 ( 2019-02-26 06:01:45 -0500 )edit
1

@Tomek1911 Pose means 3 rotation, 3 translation value, yes stereo pair calibrated

opencvr gravatar imageopencvr ( 2019-02-26 13:46:41 -0500 )edit
1

There are some tools in opencv for pose estimation, maybe check ORB decriptors, however the problem with your object is rotational symmetry, that can be tricky to estimate angle (with no asymmetrical features found). I have found paper (2018) that comments on this problem, though it is not direct opencv use-case http://www.cs.utoronto.ca/~ecorona/sy... ; https://arxiv.org/pdf/1810.05780.pdf ; (so your CAD model, may be helpful) I hope you will find something useful, inspiring

Tomek1911 gravatar imageTomek1911 ( 2019-02-27 12:23:26 -0500 )edit

thanks for the info.

opencvr gravatar imageopencvr ( 2019-02-27 13:19:03 -0500 )edit