POSE ESTIMATION FROM LINES BASED ON THE DUAL-NUMBER METHODS

Caixia Zhang, Zhanyi Hu, Fengmei Sun

2008

Abstract

It is a classical problem to estimate the camera pose from a calibrated image of 3D entities (points or lines) in computer vision. According to the coplanarity of the corresponding image line and space line, a new group of constraints is introduced based on the dual-number methods. Different from the existing methods based on lines, we do not use an isolated point on either the space line or the image line, but the whole line data. Thus, it is evitable to detect the corner as well as the corresponding propagating error.

References

  1. Fishler, M., Bolles, R., 1981. Random Sample Consensus: A Paradigm for Model Fitting with Applications to Image Analysis and Automated Cartography. In Comm. ACM, vol.24, no.6, pp.381-395.
  2. Haralick, R., Lee, C. Ottenberg, K. and Nölle, M., 1991 Analysis and Solutions of the Three Point Perspective Pose Estimation Problem. In Proc. IEEE Conf. Computer Vision and Pattern Recognition, Maui, Hawaii, pp. 592-598.
  3. Quan, L., Lan, Z., 1999. Linear N-Point Camera Pose Determination. In IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 21, no.8, pp.774-780.
  4. Abidi, M., Chandra, T., 1995. A New Efficient and Direct Solution for Pose estimation Using Quadrangular Targets: Algorithm and Evaluation. In IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.17, no.5, pp.534-538.
  5. Gao, X., Hou, X., Tang, J., Cheng, F., 2003. Complete Solution Classification for the Perspective-Three-Point Problem. In IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.25, no. 8, pp.930-943.
  6. Fiore, P., 2001. Efficient Linear Solution of Exterior Orientation. In IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.23, no.2, pp.140-148.
  7. Kumar, R., Hanson, A., 1994. Robust Methods for Estimating Pose and a Sensitivity Analysis. In CVGIP, vol.60, no.3, pp. 313-342.
  8. Ansar, A., Daniilidis, K., 2003. Linear Pose Estimation from Points or Lines, In IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.25, no.5, pp.578-589.
  9. Liu, Y., Huang, T., Faugeras, O., 1990. Determination of Camera Location from 2D to 3D Line and Point Correspondences. In IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.12, no.1, pp. 28-37.
  10. Lu, C., Hager, G., Mjolsness, E., 2000. Fast and Globally Convergent Pose Estimation from Video Images. In IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 22, no.6, pp. 610-622.
  11. Fischer, I., 1999. Dual-Number Methods in Kinematics, Statics and Dynamics, CRC Press.
  12. Hartley, R., Zisserman, A., 2000. Multiple View Geometry In Computer Vision, Cambridge University Press.
  13. Faugerous, O., Toscani, G., 1986. The calibration problem for stereo. In Proc. IEEE Conf. Computer vision and pattern recognition, pp. 15-20.
Download


Paper Citation


in Harvard Style

Zhang C., Hu Z. and Sun F. (2008). POSE ESTIMATION FROM LINES BASED ON THE DUAL-NUMBER METHODS . In Proceedings of the Third International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2008) ISBN 978-989-8111-21-0, pages 623-626. DOI: 10.5220/0001071106230626


in Bibtex Style

@conference{visapp08,
author={Caixia Zhang and Zhanyi Hu and Fengmei Sun},
title={POSE ESTIMATION FROM LINES BASED ON THE DUAL-NUMBER METHODS},
booktitle={Proceedings of the Third International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2008)},
year={2008},
pages={623-626},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001071106230626},
isbn={978-989-8111-21-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Third International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2008)
TI - POSE ESTIMATION FROM LINES BASED ON THE DUAL-NUMBER METHODS
SN - 978-989-8111-21-0
AU - Zhang C.
AU - Hu Z.
AU - Sun F.
PY - 2008
SP - 623
EP - 626
DO - 10.5220/0001071106230626