A new efficient and direct solution for pose estimation usingquadrangular targets: algorithm and evaluation
Abidi, M.A.
Chandra, T.
Dept. of Electr. & Comput. Eng., Tennessee Univ., Knoxville, TN;
This paper appears in: Pattern Analysis and Machine Intelligence, IEEE Transactions on
Publication Date: May 1995
Volume: 17,
Issue: 5
On page(s): 534-538
ISSN: 0162-8828
References Cited: 23
CODEN: ITPIDJ
INSPEC Accession Number: 4988893
Digital Object Identifier: 10.1109/34.391388
Current Version Published: 2002-08-06
Abstract
Pose estimation is an important operation for many vision tasks.
In this paper, the authors propose an algorithm for pose estimation
based on the volume measurement of tetrahedra composed of feature-point
triplets extracted from an arbitrary quadrangular target and the lens
center of the vision system. The inputs to this algorithm are the six
distances joining all feature pairs and the image coordinates of the
quadrangular target. The outputs of this algorithm are the effective
focal length of the vision system, the interior orientation parameters
of the target, the exterior orientation parameters of the camera with
respect to an arbitrary coordinate system if the target coordinates are
known in this frame, and the final pose of the camera. The authors have
also developed a shape restoration technique which is applied prior to
pose recovery in order to reduce the effects of inaccuracies caused by
image projection. An evaluation of the method has shown that this pose
estimation technique is accurate and robust. Because it is based on a
unique and closed form solution, its speed makes it a potential
candidate for solving a variety of landmark-based tracking
problems
Index
Terms
Available to subscribers and IEEE members.
References
Available to subscribers and IEEE members.
Citing Documents
Available to subscribers and IEEE members.
Cart
