A method of determining the pose of spatial plane based on ellipse features

When the cylindrical laser lights up the spatial plane, the shape of the laser spot(SLS) is elliptical. The SLS images on the CCD plane by binocular stereo vision are also elliptical. Five independent parameters are obtained according to the principle of least square ellipse. The relationship between spatial plane and elliptical parameters is established. With the use of SWIFT (Sequential Weight Increasing Factor Technique) search algorithm, the pose of spatial plane can be determined without the match of feature points. The numerical results show that the method is effective and feasible.