Real-time texturing for 6D object instance detection from RGB Images


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

Similar works

Full text



Full text is not available
oai:fraunhofer.de:N-577802Last time updated on 4/20/2020

This paper was published in Fraunhofer-ePrints.

Having an issue?

Is data on this page outdated, violates copyrights or anything else? Report the problem now and we will take corresponding actions after reviewing your request.