Publications
Real-time texturing for 6D object instance detection from RGB Images
| Author | Rojtberg, Pavel; Kuijper, Arjan |
|---|---|
| Date | 2019 |
| Type | Conference Paper |
| Abstract | For objected detection, the availability of color cues strongly influences detection rates and is even a prerequisite for many methods. However, when training on synthetic CAD data, this information is not available. We therefore present a method for generating a texture-map from image sequences in real-time. The method relies on 6 degree-of-freedom poses and a 3D-model being available. In contrast to previous works this allows interleaving detection and texturing for upgrading the detector on-the-fly. Our evaluation shows that the acquired texture-map significantly improves detection rates using the LINEMOD [5] detector on RGB images only. Additionally, we use the texture-map to differentiate instances of the same object by surface color. |
| Conference | International Symposium on Mixed and Augmented Reality (ISMAR) 2019 |
| Url | https://publica.fraunhofer.de/handle/publica/406720 |
