Perspective Matching, Circle Pose & Rectangle Pose
Only a planar part of the object is necessary to determine
the 3D pose of the object by exploiting perspective
matching techniques.
Based on significant circles or rectangles, the 3D pose
of an object is determined with only one camera.
Introduction of the technology
Instead of using the full 3D shape of an object,for many applications it is possible to restrict the model area to a planar part of the object.- For arbitrarily shaped object parts, perspective matching allows to determine the 3D pose with only one camera. The model generation is done by training a sample image of the object typically inside a specified ROI.
- If the object has significant circles or rectangles, the 3D pose can easily be determined with only one camera. This is done by using the known size of the circle or rectangle to calculate the distance and the tilt angle of the object in respect to the calibrated camera.
Particularly suitable for ...
3D alignment, e.g., applications for which the 3D pose (position and orientation) of an object must be found. Examples are automotive and robotics applications, pick-and-place applications, and bin picking. A further possibility is the measuring of geometric features on complex 3D objects after 3D alignment.Supported by HALCON
HALCON offers algorithms for both perspective matching and circle & rectangle pose. These methods help finding objects easily with only one camera.For perspective matching, HALCON provides two different methods suitable for two different classes of objects. Depending on the object's shape and appearance, HALCON offers both deformable matching, which is based on the shape-based matching technology (object edges), and descriptor-based matching, which uses so-called interest points.
In case of circle and rectangle pose, HALCON offers highly accurate methods for the extraction of subpixel contours, either edges or lines. These contours are input for the robust fitting algorithms calculating the pose.
Application example
3D alignment with rectangle pose.
Calculating the 3D pose of the object by finding the rectangle.
3D Vision Technologies
- Overview
- 3D Calibration
- 3D Matching
- Perspective Matching, Circle Pose & Rectangle Pose
- Stereo Vision
- Monocular 2 ½ D – Depth from Focus & Sheet of Light
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vision brochure
