Pose Estimation of Free-form Objects : Theory and Experiments
In this report we present geometric foundations and an algorithmic approach to deal with the 2D-3D pose estimation problem for free-form surface models. This work is an extension to earlier studies presented in . The discussion of 1D contour models in  is extended to 2D free-form surface models. We use a parametric representation of surfaces and apply Fourier transformations to gain low-pass descriptions of objects. We present an algorithm for pose estimation, which uses the silhouette of the object as pictorial information and recovers the 3D pose of the object even for changing aspects of the object during image sequences. We further present extensions to couple surface and contour information on objects and show the potential of our chosen approach for complex objects and scenes.
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