Dataset Information

A New Pose Estimation Algorithm Using a Perspective-Ray-Based Scaled Orthographic Projection with Iteration.

ABSTRACT: Pose estimation aims at measuring the position and orientation of a calibrated camera using known image features. The pinhole model is the dominant camera model in this field. However, the imaging precision of this model is not accurate enough for an advanced pose estimation algorithm. In this paper, a new camera model, called incident ray tracking model, is introduced. More importantly, an advanced pose estimation algorithm based on the perspective ray in the new camera model, is proposed. The perspective ray, determined by two positioning points, is an abstract mathematical equivalent of the incident ray. In the proposed pose estimation algorithm, called perspective-ray-based scaled orthographic projection with iteration (PRSOI), an approximate ray-based projection is calculated by a linear system and refined by iteration. Experiments on the PRSOI have been conducted, and the results demonstrate that it is of high accuracy in the six degrees of freedom (DOF) motion. And it outperforms three other state-of-the-art algorithms in terms of accuracy during the contrast experiment.

SUBMITTER: Sun P

PROVIDER: S-EPMC4509906 | biostudies-literature | 2015

REPOSITORIES: biostudies-literature

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Publications

A New Pose Estimation Algorithm Using a Perspective-Ray-Based Scaled Orthographic Projection with Iteration.

Sun Pengfei P Sun Changku C Li Wenqiang W Wang Peng P

PloS one 20150721 7

Pose estimation aims at measuring the position and orientation of a calibrated camera using known image features. The pinhole model is the dominant camera model in this field. However, the imaging precision of this model is not accurate enough for an advanced pose estimation algorithm. In this paper, a new camera model, called incident ray tracking model, is introduced. More importantly, an advanced pose estimation algorithm based on the perspective ray in the new camera model, is proposed. The ...[more]

PMID: 26197272

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Project description:Automatic estimation of the poses of dairy cows over a long period can provide relevant information regarding their status and well-being in precision farming. Due to appearance similarity, cow pose estimation is challenging. To monitor the health of dairy cows in actual farm environments, a multicow pose estimation algorithm was proposed in this study. First, a monitoring system was established at a dairy cow breeding site, and 175 surveillance videos of 10 different cows were used as raw data to construct object detection and pose estimation data sets. To achieve the detection of multiple cows, the You Only Look Once (YOLO)v4 model based on CSPDarkNet53 was built and fine-tuned to output the bounding box for further pose estimation. On the test set of 400 images including single and multiple cows throughout the whole day, the average precision (AP) reached 94.58%. Second, the keypoint heatmaps and part affinity field (PAF) were extracted to match the keypoints of the same cow based on the real-time multiperson 2D pose detection model. To verify the performance of the algorithm, 200 single-object images and 200 dual-object images with occlusions were tested under different light conditions. The test results showed that the AP of leg keypoints was the highest, reaching 91.6%, regardless of day or night and single cows or double cows. This was followed by the AP values of the back, neck and head, sequentially. The AP of single cow pose estimation was 85% during the day and 78.1% at night, compared to double cows with occlusion, for which the values were 74.3% and 71.6%, respectively. The keypoint detection rate decreased when the occlusion was severe. However, in actual cow breeding sites, cows are seldom strongly occluded. Finally, a pose classification network was built to estimate the three typical poses (standing, walking and lying) of cows based on the extracted cow skeleton in the bounding box, achieving precision of 91.67%, 92.97% and 99.23%, respectively. The results showed that the algorithm proposed in this study exhibited a relatively high detection rate. Therefore, the proposed method can provide a theoretical reference for animal pose estimation in large-scale precision livestock farming.

Dataset Information

A New Pose Estimation Algorithm Using a Perspective-Ray-Based Scaled Orthographic Projection with Iteration.

Publications

A New Pose Estimation Algorithm Using a Perspective-Ray-Based Scaled Orthographic Projection with Iteration.

Similar Datasets

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