Abstract—Visual Augmented Reality (AR) typically overlays
virtual computer graphics or other virtual contents on the real
world videos, attracting much interest from both academic and
industrial communities. Although AR techniques on planes are
well studied, cylindrical objects are seldom used for augmented
reality. In this paper, we propose a new method for 3D reconstruction
and 6D pose computation for augmented reality on a
cylindrical object. The 6D pose is the relative pose between the
camera and the cylindrical object, which is very convenient to
make augmented reality. First, we capture some images with a
cylindrical object and then reconstruct its 3D model with textures
offline by using projective invariance and image contours. Second,
according to the 3D model, we track the 6D relative pose between
the camera and the cylindrical object online, where we propose
a linear P3P RANSAC to remove outliers. Finally, the virtual
images are exactly aligned with the cylindrical object in the
real world. Experimental results show that the proposed method
outperforms the state of the arts in terms of 3D mapping and
6D pose computation on cylindrical objects.