A Robust Pose Estimation Method for Nearly Coplanar Points
نویسندگان
چکیده
The pose of a calibrated camera can be estimated from known correspondences with known scene structure. There is a number of pose estimation algorithms which solve this problem, however, all of these algorithms suffer from pose ambiguity. This paper analyses the reason of pose ambiguity from the aspect of the distribution of object points. Then, we develop a novel robust method to solve pose ambiguity for nearly coplanar points, through analyzing the influence of coplanar points and non-coplanar points comprehensively. Simulation experiments and the real image results have demonstrated the effectiveness of our new algorithm.
منابع مشابه
Robust and Accurate Vision-Based Pose Estimation Algorithm Based on Four Coplanar Feature Points
Vision-based pose estimation is an important application of machine vision. Currently, analytical and iterative methods are used to solve the object pose. The analytical solutions generally take less computation time. However, the analytical solutions are extremely susceptible to noise. The iterative solutions minimize the distance error between feature points based on 2D image pixel coordinate...
متن کاملIterative Pose Estimation Using Coplanar Feature Points
of the matrix in a singular value decomposition [9]. A general algorithm which assumes that these feature points This paper presents a new method for the computation of the position and orientation of a camera with respect to a known are noncoplanar and fails to detect that this case is degenerobject, using four or more coplanar feature points. Starting with ate would probably produce inaccurat...
متن کاملCamera Pose Estimation in Unknown Environments using a Sequence of Wide-Baseline Monocular Images
In this paper, a feature-based technique for the camera pose estimation in a sequence of wide-baseline images has been proposed. Camera pose estimation is an important issue in many computer vision and robotics applications, such as, augmented reality and visual SLAM. The proposed method can track captured images taken by hand-held camera in room-sized workspaces with maximum scene depth of 3-4...
متن کاملQuaternion Based Camera Pose Estimation From Matched Feature Points
We present a novel solution to the camera pose estimation problem, where rotation and translation of a camera between two views are estimated from matched feature points in the images. The camera pose estimation problem is traditionally solved via algorithms that are based on the essential matrix or the Euclidean homography. With six or more feature points in general positions in the space, ess...
متن کاملLinear N-Point Camera Pose Determination
ÐThe determination of camera position and orientation from known correspondences of 3D reference points and their images is known as pose estimation in computer vision and space resection in photogrammetry. It is wellknown that from three corresponding points there are at most four algebraic solutions. Less appears to be known about the cases of four and five corresponding points. In this paper...
متن کامل