Affiliation of Author(s):自动化学院
Journal:OPTIK
Key Words:Pose estimation Computer vision Circular feature Perspective-n-point Feature fusion
Abstract:A general fusion frame of circles and points in vision pose estimation is addressed. We present a very simple formula to solve camera pose with a single circle, and then develop a general fusion method to integrate solved poses of circles and points. Two steps including initial guess and non-linear optimization are used for vision pose estimation. Different situations such as one circle one point, circles with same rotation center axis and circles with different rotation center axis are discussed for initial guess. After that, a novel unified reprojection error for circles and points is defined to determine the optimal pose solution. Experiments with real images are carried out to validate the proposed method, and results show that the method is valid and high-accuracy available. (C) 2017 Elsevier GmbH. All rights reserved.
ISSN No.:0030-4026
Translation or Not:no
Date of Publication:2018-01-01
Co-author:黄斌,huangbin,Zeng, Qinghua
Correspondence Author:黄斌,syr,huangbin
Date of Publication:2018-01-01