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Viewpoint-aware object detection and continuous pose estimation
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DOI：10.1016/j.imavis.2012.09.006.png)
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We describe an approach to category-level detection and viewpoint estimation for rigid 3D objects from single 2D images. In contrast to many existing methods, we directly integrate 3D reasoning with an appearance-based voting architecture. Our method relies on a nonparametric representation of a joint distribution of shape and appearance of the object class. Our voting method employs a novel parameterization of joint detection and viewpoint hypothesis space, allowing efficient accumulation of evidence. We combine this with a re-scoring and refinement mechanism, using an ensemble of view-specific support vector machines. We evaluate the performance of our approach in detection and pose estimation of cars on a number of benchmark datasets. Finally we introduce the Weizmann Cars ViewPoint (WCVP) dataset, a benchmark for evaluating continuous pose estimation. (C) 2012 Elsevier B.V. All rights reserved.
Keyword:
Viewpoint-aware
Object detection
Pose estimation
3D model
Viewpoint estimation
Structure from motion
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