Abstract
To uniquely determine the position and orientation of a calibrated camera from a single image, pose estimation algorithms have been developed. However, the presented algorithms usually encounter pose ambiguity problem when process approximate coplanar targets, which can be defined as that a majority of object points on these targets belongs to a plane while some others distract outside the plane. Based on a more comprehensive explanation for pose ambiguity from the influence of 3D object configuration, we propose a robust pose estimation algorithm. The approximate coplanar points are divided into coplanar points and non-coplanar points. When two candidate solutions are calculated by coplanar points, final pose is determined using non-coplanar points. Simulation results and experiments on real images prove the effectiveness of our proposed pose estimation algorithm.
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Yang, H., Wang, F., Chen, L., He, Y., He, Y. (2014). Robust Pose Estimation Algorithm for Approximate Coplanar Targets. In: Huang, DS., Jo, KH., Wang, L. (eds) Intelligent Computing Methodologies. ICIC 2014. Lecture Notes in Computer Science(), vol 8589. Springer, Cham. https://doi.org/10.1007/978-3-319-09339-0_36
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DOI: https://doi.org/10.1007/978-3-319-09339-0_36
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-09338-3
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