Pose estimation from four corresponding points with a single camera

Peng Wang; Yongjun Zhou; Qiuzi Zhang

doi:10.1117/12.869474

11 November 2010 Pose estimation from four corresponding points with a single camera

Peng Wang, Yongjun Zhou, Qiuzi Zhang

Proceedings Volume 7855, Optical Metrology and Inspection for Industrial Applications; 78551I (2010) https://doi.org/10.1117/12.869474
Event: Photonics Asia 2010, 2010, Beijing, China

Abstract

Finding the position and orientation between a camera and a target with respect to a scene object from n correspondence points is crucial for many computer and robot vision tasks. With a limited number of correspondence points, the closed-from solution is applied to solve the pose estimation problem. To estimate the pose between the camera and the target from the four reference point, a pose estimate model is built with the four projection line between the 3D space point and 2D image point, under the full perspective projection of the camera. The transformation matrix is determined by the coordinates of four reference points in camera coordinate system and the target coordinate system respectively. To figure out the transformation matrix, the distance factor of the four reference points in camera system must be calculated. Considering the quality of the triangle, the pose estimate model with is simplified, which avoid the iteration, as while as taking the advantage of the data redundancy. Considering the specific relationship of the four reference points, the Levenberg-Marquardt algorithm is used to figure out the unknown parameters in the pose estimate model. Then the position and orientation between the camera and the target is obtained with respect to the coordinate transformation matrix from the camera coordinates to the target coordinates. In the experiment, both synthetic and real data are used to examine the accuracy and stability of the pose estimate algorithms with four points. Experiment result shows the distance measurement precision better than 0.03mm, and the angle measurement precision better than 0.2°.

Citation Download Citation

Peng Wang, Yongjun Zhou, and Qiuzi Zhang "Pose estimation from four corresponding points with a single camera", Proc. SPIE 7855, Optical Metrology and Inspection for Industrial Applications, 78551I (11 November 2010); https://doi.org/10.1117/12.869474

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available

Members: $17.00

Non-members: $21.00 ADD TO CART

PROCEEDINGS
9 PAGES

DOWNLOAD PAPER SAVE TO MY LIBRARY

GET CITATION

RIGHTS & PERMISSIONS

Get copyright permission Get copyright permission on Copyright Marketplace

KEYWORDS

Cameras

Imaging systems

Error analysis

Detection and tracking algorithms

3D modeling

CCD cameras

Data modeling

Show All Keywords

Keywords/Phrases

Search In:

Publication Years