By Topic

A vision-based method for the circle pose determination with a direct geometric interpretation

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Zen Chen ; Dept. of Comput. Sci. & Inf. Eng., Nat. Chiao Tung Univ., Hsinchu, Taiwan ; Jen-Bin Huang

A novel vision-based method for the circle pose determination is addressed. This method is based on two particular projected chords of a circle image. The first one is the projection of a circle chord which subtends the largest apex angle of the viewing cone for the circle image and the second one is the projection of a circle diameter whose back-projection plane bisects the above largest apex angle. This method is conceptually simple, since the circle center is the center point of the diameter chord and the circle orientation is given by the cross product of these two (directed) chords. We present theorems on the geometry of both the viewing cone and a re-projected circle image which are essential to the pose determination. We then give a pose determination method which is applicable under all viewing conditions. Experimental results illustrate the good performance of the method, when compared with other existing methods

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:15 ,  Issue: 6 )