Research on 3D Target Pose Tracking and Modeling

doi:10.11947/j.JGGS.2019.0207

Abstract

Abstract:

This paper tackles pose tracking and model refinement, one of the fundamental work for 3D photogrammetry. The researches belong to the videometrics, an interdisciplinewhich combines computer vision, digital image processing, photogrammetry and optical measurement. Related works are summarized briefly in this paper. This paper studies the problem of pose tracking for target with 3D model. For the target with accurate 3D model, line model based pose tracking methods are proposed for target which is rich in line features. Experimental results indicate that the proposed methods track the target pose accurately. Normal distance iterative reweighted least squares and distance image iterative least squares methods are proposed to process more general targets. This paper adopts bundle adjustment to tackle pose tracking in image sequence for target with inaccurate 3D line model. The proposed method optimizes the model line parameters and the pose parameters simultaneously. The model line orientation, position and mean angle error, mean position error of the pose are 0.3°,3.5mm and 0.12°,20.1mm in simulation experiments of satellite pose tracking. Line features are used to track target pose with unknown 3D model through image sequence. The model line parameters and pose parameters are optimized under the framework of SFM. In simulation experiments, the reconstructed line orientation, position error and mean angle error, mean position error of pose are 0.4°,7.5mm and 0.16°,23.5mm.

Key words: videometrics; 3D model; pose tracking; bound adjustment; reconstruction

Yang SHANG,Xiaoliang SUN,Yueqiang ZHANG,You LI,Qifeng YU. Research on 3D Target Pose Tracking and Modeling[J]. Journal of Geodesy and Geoinformation Science, 2019, 2(2): 60-69.

Figures/Tables 5

References 39

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