Local Representation of 3D Free-Form Contours for Pose Estimation

In this paper we present a new representation for 3D free-form contours in the conformal geometric algebra G_{4, 1}. This new representation allows to extract local geometrical feature information which is used to solve the correspondence problem for pose estimation applications. Under perspective projection, local features are extracted from a projected contour segment and compared with image features obtained from the monogenic signal. We tested our approach using synthetical and real data for several pose estimation algorithms