Multireference object pose retrieval with volume feedback

Abstract

Pose retrieval of a rigid object from monocular video sequences or images is addressed. Initially, the object pose is estimated in each image assuming flat depth maps. Shape-from-silhouette is then applied to make a 3-D model (volume), which is used for a new round of pose estimations, this time by a model-based method that gives better estimates. Before repeating this process by building a new volume, pose estimates are adjusted to reduce error by maximizing a novel quality factor for shape-from-silhouette volume reconstruction. The feedback loop is terminated when pose estimates do not change much, as compared with those produced by the previous iteration. Based on a theoretical study of the proposed system, a test of convergence to a given set of poses is devised. Reliable performance of the system is also proved by several experiments on both synthetic and real image sequences. No model is assumed for the object and no feature point is detected or tracked as there is no problematic feature matching or correspondence. Our method can be used for 3-D object tracking in video, 3-D modeling, and volume reconstruction from video.