Pose Estimation via Concentric Circles and Lines

Accurate pose estimation is an essential premise for many robotic applications. In this paper, we present a novel method based on a single image of coplanar concentric circles and lines, to achieve the six degrees of freedom (6DOF) pose estimation problem. Concentric circles are proved to be useful in both disambiguating process and achieving the estimate results, and lines can take parts in heading calculation as well as the optimization parts. Numerical simulation experiments in different imaging scenarios and a set of actual flight data are taken in use to verify the effectiveness of our method.