Pose Recognition for Tracker Initialization Using 3D Models

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In this thesis it is examined whether the pose of an object can be determined by a system trained with a synthetic 3D model of said object. A number of variations of methods using P-channel representation are examined. Reference images are rendered from the 3D model, features, such as gradient orientation and color information are extracted and encoded into P-channels. The P-channel representation is then used to estimate an overlapping channel representation, using B1-spline functions, to estimate a density function for the feature set. Experiments were conducted with this representation as well as the raw P-channel representation in conjunction with a number of distance measures and estimation methods.It is shown that, with correct preprocessing and choice of parameters, the pose can be detected with some accuracy and, if not in real-time, fast enough to be useful in a tracker initialization scenario. It ...