real-time vision

About the Software

We provide source code for real-time object detection and pose estimation. Although mainly developed for rigid (texture-less) 2D and 3D objects, some of the work could also be used for deformable registration or articulated objects. We hope by providing the software we can accelerate the research in the area of real-time object detection and pose estimation.

Authors

The source code was written by Stefan Hinterstoißer

The Copyright

CAMP, Lehrstuhl XVI
Technische Universität München, Germany
Copyright © 2010. All rights reserved.
Third party copyrights are property of their respective owners.

Related Publications

The implementations of the different methods are based on the following publications:

  • S. Hinterstoisser, V. Lepetit, S. Ilic, P. Fua, N. Navab.
    Dominant Orientation Templates for Real-Time Detection of Texture-Less Objects.
    IEEE Conference on Computer Vision and Pattern Recognition, 2010.
  • S. Hinterstoisser, O. Kutter, N. Navab, P. Fua, V. Lepetit.
    Real-Time Learning of Accurate Patch Rectification.
    IEEE Conference on Computer Vision and Pattern Recognition, 2009.
  • S. Hinterstoisser, S. Benhimane, N. Navab, P. Fua, V. Lepetit.
    Online Learning of Patch Perspective Rectification for Efficient Object Detection.
    IEEE Conference on Computer Vision and Pattern Recognition, 2008.

If you intend to use the software or results obtained with it, the corresponding papers should be cited within your publication.

Related Software

All implementations make use of the following libraries, available at the following sites:

OpenCV,

Intel IPP (Performance Primitives),

ESM trial software.

The software was developed under Windows 32-bit. However, porting it to other OS (e.g. Linux,Mac) should not be problematic. Read the README files of the corresponding software package.

License

THE WORK IS FOR RESEARCH AND NON-COMMERCIAL PURPOSES ONLY. IF YOU WOULD LIKE TO USE THIS SOFTWARE FOR COMMERCIAL PURPOSES OR LICENSING THE TECHNOLOGY, PLEASE CONTACT: HERE.

Disclaimer

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. THIS SOFTWARE SHOULD NOT BE USED FOR CLINICAL APPLICATIONS SUCH AS THERAPY, DIAGNOSIS, OR INTERVENTION.

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Releases

DOT VS. 1.0 - 01/06/2010

  • Windows 32-bit (also for Linux)
  • SSE optimized on Intel processors
  • Gradient based template matching
  • No feature points needed (whole image is scanned)
  • 2D real-time (~80fps) patch registration with ESM refinement
  • 3D real-time object detection without refinement

GEPARD VS. 1.0 - 01/01/2010

  • Windows 32-bit
  • Real-time learning of one-way descriptor
  • Real-Time Perspective Patch Rectification
  • Based on feature points (we use Harris, however every other feature detector is suitable)

LEOPAR VS. 1.0 - 01/01/2010

  • Windows 32-bit
  • Real-Time Perspective Patch Rectification
  • Based on feature points (we use Harris, however every other feature detector is suitable)