Abstract: With the development of CAD technology and 3D scene understanding in recent years,accurate pose estimation based on target 3D CAD model has become an important method.However,direct application of the CAD model often requires commercial CAD software to be invoked in programming,in this way,it not onlyneed to configure a large number of compatibility files,but also has higher requirements for computer graphics hardware.Meanwhile,the frequent interaction of software level data leads to low efficiency.Therefore,an image library with the truth values of pose can be obtained by projecting the CAD model,which greatly simplify the problem by means of transforming the three-dimensional problem into a two-dimensional problem.Considering the integration of programs,OpenGL is used as the display tool of CAD model.Firstly,the internal and external parameters of virtual camera are calibrated.Considering the relati-vity of motion,the virtual image is kept motionless,and the pitch and azimuth are rotated 0~90 degrees and 0~360 degrees respectively with the target model projected at 1 degree according to the set distance.The target projection image library with accurate pose is obtained.

Key words: 3D CAD model, Accurate pose, Complex three-dimensional structure, OpenGL, Projection