Fast pose estimation for texture-less objects based on B-Rep model

Widespread industrial products, which are usually texture-less, are mainly represented with 3D boundary representation (B-Rep) model for designing and manufacturing, hence the pose estimation of texture-less object based on B-Rep model is worthy of much studying in industrial inspection. In view of such facts that surfaces are much crucial both to construction of B-Rep model and to recognition of real object, the edges of the visible surfaces in each aspect view of B-Rep model are computed and the edges in a search image containing real B-Rep objects are extracted with modified Hough algorithm. Secondly, the two edge sets are converted into the metric space for comparison, where each edge is expressed with the tetrad of edge length, angle of middle point, angle of perpendicular axis, and length of perpendicular axis. In that way, the pose of real B-Rep object in a search image is estimated by comparing the edge set of every aspect view with the edge set of the search image with the bipartite graph matching algorithm. The corresponding experiment was taken with some products in national design reservoir (NDR), and it verified the effectiveness of the texture-less pose estimation approach based on B-Rep model.