Pose estimation of tube-shaped flexible objects from geometrically rectified shadow images

Marc M. Ellenrieder

doi:10.1117/12.585044

17 January 2005 Pose estimation of tube-shaped flexible objects from geometrically rectified shadow images

Marc M. Ellenrieder

Proceedings Volume 5675, Vision Geometry XIII; (2005) https://doi.org/10.1117/12.585044
Event: Electronic Imaging 2005, 2005, San Jose, California, United States

Abstract

In this paper, we propose a method to estimate the pose of tube-shaped flexible objects from their shadow cast on non-planar backgrounds. To compensate for the distortion of the shadow by the non-planar backgrounds, we introduce a model-based method to calculate a look-up-table that enables scene-specific undistortion of shadow images if the geometric relations of camera, background and light source are known. In accordance with the established term image rectification that is used to correct images for camera lens errors we propose the term geometric rectification for this process. It is shown how to estimate the 3d position of tube-shaped flexible objects from geometrically rectified shadow images. For unknown lamp positions, we present a method to estimate the position of the point light from an image showing a special calibration rig. The method is verified on synthetic and real world example images taken from Industrial Machine Vision applications.

Citation Download Citation

Marc M. Ellenrieder "Pose estimation of tube-shaped flexible objects from geometrically rectified shadow images", Proc. SPIE 5675, Vision Geometry XIII, (17 January 2005); https://doi.org/10.1117/12.585044

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