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3D Pose estimation by matching CAD data to single image

CAD-based photogrammetry methodologies have been used in object geometry inspection, and the 3D pose estimation of part is one of the important steps. This paper reports a strategy of 2D-3D pose estimation of sheet metal part by its CAD data and single grey image. It uses Hough strategy to get initial value and then do general point adjustment to get accuracy result. The strategy is tested with the images of some sheet metal parts. It is robust and reliable acting as initial values in certain condition. And it has been used in a sheet metal part inspection system.