The research project deals with the 2D-3D pose estimation problem. A modified version of this page can also be found at the official 2D-3D pose estimation project page from the cognitive systems group at the University of Kiel. Pose estimation itself means to estimate the relative position and orientation of a 3D object with respect to a reference camera system. The main focus of the work concentrates on the geometric modeling and application of the pose problem. Therefore I use as mathematical language the conformal geometric algebra, which is a universal Clifford algebra. It provides a homogeneous model for stereographically projected points on a hypersphere and therefore couples kinematics with projective geometry. This representation is useful for many computer vision or robot vision tasks like object manipulation or selflocalization of mobile robots. The reason for this approach is that starting from simple features (e.g. point features) an extended scenario is derived, which deals with higher order features such as lines, planes, circles, spheres, kinematic chains or cycloidal curves. Cycloidal curves are defined as circles rolling on circles and are treated as 3D entities within the pose scenario. This scenario extends to general free-form contours by interpreting contours generated with 3D Fourier descriptors as n-times nested cycloidal curves.
© Copyright 2006 Alle Rechte vorbehalten.