Single-Image 3D Pose Estimation for Texture-Less Object via Symmetric Prior

Abstract

Extracting 3D information from a single image is an interesting but ill-posed problem. Especially for those artificial objects with less texture such as smooth metal devices, the decrease of object detail makes the problem more challenging. Aiming at the texture-less object with symmetric structure, this paper proposes a novel method for 3D pose estimation from a single image by introducing implicit structural symmetry and context constraint as priori-knowledge. Firstly, by parameterized representation, the texture-less object is decomposed into a series of sub-objects with regular geometric primitives. Accordingly, the problem of 3D pose estimation is converted to a parameter estimation problem, which is implemented by primitive fitting algorithm. Then, the context prior among sub-objects is introduced for parameter refinement via the augmentedLagrange optimization. The effectiveness of the proposed method is verified by the experiments based on simulated and measured data.