Dominant orientation templates for real-time detection of texture-less objects

Stefan Hinterstoisser, Vincent Lepetit, Slobodan Ilic, Pascal Fua, Nassir Navab

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

202 Scopus citations

Abstract

We present a method for real-time 3D object detection that does not require a time consuming training stage, and can handle untextured objects. At its core, is a novel template representation that is designed to be robust to small image transformations. This robustness based on dominant gradient orientations lets us test only a small subset of all possible pixel locations when parsing the image, and to represent a 3D object with a limited set of templates. We show that together with a binary representation that makes evaluation very fast and a branch-and-bound approach to efficiently scan the image, it can detect untextured objects in complex situations and provide their 3D pose in real-time.

Original languageEnglish
Title of host publication2010 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, CVPR 2010
Pages2257-2264
Number of pages8
DOIs
StatePublished - 2010
Event2010 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, CVPR 2010 - San Francisco, CA, United States
Duration: 13 Jun 201018 Jun 2010

Publication series

NameProceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition
ISSN (Print)1063-6919

Conference

Conference2010 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, CVPR 2010
Country/TerritoryUnited States
CitySan Francisco, CA
Period13/06/1018/06/10

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