1 March 1990 A New All-Geometric Pose Estimation Algorithm Using A Single Perspective View
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Proceedings Volume 1192, Intelligent Robots and Computer Vision VIII: Algorithms and Techniques; (1990) https://doi.org/10.1117/12.969744
Event: 1989 Symposium on Visual Communications, Image Processing, and Intelligent Robotics Systems, 1989, Philadelphia, PA, United States
Abstract
Pose estimation is an important operation for many robotic tasks. In this paper, we propose a new algorithm of pose estimation. The input to this algorithm are the six distances joining all feature pairs and the image coordinates of the quadrangular target. The output of this algorithm are (1) the effective focal-length of the vision system, (2) the interior orientation parameters of the target, (3) the exterior orientation parameters of the camera with respect to an arbitrary coordinate system if the coordinates of the target are known in this frame, and (4) the final pose of the camera. The contribution of this method is the fast recovery of the vectors joining the effective focal-point and each of the target points using an all-geometric close form unique solution. Taking advantage of all the geometric information inherent in the target and its image, each of these vectors is recovered in six different ways. This redundancy is exploited in order to minimize the effect of random errors in the target sizing or in the recovery of its image coordinates. Knowing the relative position of the vision system frame with respect to a fixed coordinate system, the exterior orientation parameters are recovered in the form of a matrix transformation relating the fixed coordinate system to the target coordinate system. The decomposition of the latter matrix transformation into a translation and three rotations about the major axes provides the final pose of the camera.
© (1990) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
T. Chandra, T. Chandra, M. A. Abidi, M. A. Abidi, } "A New All-Geometric Pose Estimation Algorithm Using A Single Perspective View", Proc. SPIE 1192, Intelligent Robots and Computer Vision VIII: Algorithms and Techniques, (1 March 1990); doi: 10.1117/12.969744; https://doi.org/10.1117/12.969744
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