1. From IR Images to Point Clouds to Pose
- Author
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Stylianos Asteriadis, Carolin Vey, Alain Pagani, Didier Stricker, Ahmet Firintepe, Dept. of Advanced Computing Sciences, RS: FSE Studio Europa Maastricht, and RS: FSE DACS
- Subjects
Computer science ,object pose estimation ,Computer applications to medicine. Medical informatics ,R858-859.7 ,ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION ,Point cloud ,Article ,computer vision ,Image (mathematics) ,point clouds ,Photography ,Radiology, Nuclear Medicine and imaging ,Computer vision ,Electrical and Electronic Engineering ,TR1-1050 ,Pose ,Astrophysics::Galaxy Astrophysics ,Artificial neural network ,business.industry ,Deep learning ,Estimator ,deep learning ,QA75.5-76.95 ,Computer Graphics and Computer-Aided Design ,augmented reality ,Electronic computers. Computer science ,Augmented reality ,Computer Vision and Pattern Recognition ,Artificial intelligence ,Error reduction ,business - Abstract
In this paper, we propose two novel AR glasses pose estimation algorithms from single infrared images by using 3D point clouds as an intermediate representation. Our first approach “PointsToRotation” is based on a Deep Neural Network alone, whereas our second approach “PointsToPose” is a hybrid model combining Deep Learning and a voting-based mechanism. Our methods utilize a point cloud estimator, which we trained on multi-view infrared images in a semi-supervised manner, generating point clouds based on one image only. We generate a point cloud dataset with our point cloud estimator using the HMDPose dataset, consisting of multi-view infrared images of various AR glasses with the corresponding 6-DoF poses. In comparison to another point cloud-based 6-DoF pose estimation named CloudPose, we achieve an error reduction of around 50%. Compared to a state-of-the-art image-based method, we reduce the pose estimation error by around 96%.
- Published
- 2021