How to get the 6D Pose knowing the 3D CAD model and 2DImage of the object?

asked 2020-06-24 09:36:17 -0500

astronaut gravatar image

updated 2020-06-24 11:55:28 -0500

supra56 gravatar image

Hi

I have the 3D CAD Model of the Object Its a simple Box without texture. The image of the object is like this: Box

I would like to get the 6D Pose of the box while the camera is swinging. I know can use solvePnP but for my application, the object is in a fixed position the scene and the camera is swinging(moving). Would be possible to track the object and get the 6D pose in real-time? what is the update rate of the algorithm? So, the 3D CAD model must be in YAML format or any other format works?

Any code I can start with? Also, can I get the error of the position and the orientation, I mean the difference between the ground truth and the estimated 6D pose?

Thanks

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Comments

What are the 6 dimensions?

sjhalayka gravatar imagesjhalayka ( 2020-06-24 22:44:02 -0500 )edit

Position(x,y,z) and Orientation (in the all 3 axes). So totally 6 Ok?

astronaut gravatar imageastronaut ( 2020-06-24 23:03:27 -0500 )edit