A faster relative 3D position and attitude algorithm based on special four-point feature

Shunliang Pan; Xiaojian Wang; Weiqun Shen; Zishan Song

doi:10.1117/12.716958

24 October 2006 A faster relative 3D position and attitude algorithm based on special four-point feature

Shunliang Pan; Xiaojian Wang; Weiqun Shen; Zishan Song

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Proceedings Volume 6357, Sixth International Symposium on Instrumentation and Control Technology: Signal Analysis, Measurement Theory, Photo-Electronic Technology, and Artificial Intelligence; 63571A (2006) https://doi.org/10.1117/12.716958
Event: Sixth International Symposium on Instrumentation and Control Technology, 2006, Beijing, China

Abstract

Computer vision is gaining significant importance as a cheap, passive, and information-rich sensor in research areas such as unmanned vehicle. Using computer vision can estimate relative 3D position and attitude. This paper puts forward a new faster relative 3D position and attitude approach based on special four feature points. This method used prior knowledge of the four feature points of a square and parallel relation, avoided complicated iterative arithmetic in general four feature points' methods, and reduced time of objects position and attitude estimation. The theory and experiments with simulated data showed that the approach is efficient, robust and real-time.

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Shunliang Pan, Shunliang Pan, Xiaojian Wang, Xiaojian Wang, Weiqun Shen, Weiqun Shen, Zishan Song, Zishan Song, } "A faster relative 3D position and attitude algorithm based on special four-point feature", Proc. SPIE 6357, Sixth International Symposium on Instrumentation and Control Technology: Signal Analysis, Measurement Theory, Photo-Electronic Technology, and Artificial Intelligence, 63571A (24 October 2006); doi: 10.1117/12.716958; https://doi.org/10.1117/12.716958

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