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3D Pose Estimation of a Circular Feature With a Coplanar Point  

Kim, Heon-Hui (Korea Maritime University)
Park, Kwang-Hyun (Kwangwoon University)
Ha, Yun-Su (Korea Maritime University)
Publication Information
Journal of the Institute of Electronics Engineers of Korea SC / v.48, no.5, 2011 , pp. 13-24 More about this Journal
Abstract
This paper deals with a 3D-pose (orientation and position) estimation problem of a circular object in 3D-space. Circular features can be found with many objects in real world, and provide crucial cues in vision-based object recognition and location. In general, as a circular feature in 3D space is perspectively projected when imaged by a camera, it is difficult to recover fully three-dimensional orientation and position parameters from the projected curve information. This paper therefore proposes a 3D pose estimation method of a circular feature using a coplanar point. We first interpret a circular feature with a coplanar point in both the projective space and 3D space. A procedure for estimating 3D orientation/position parameters is then described. The proposed method is verified by a numerical example, and evaluated by a series of experiments for analyzing accuracy and sensitivity.
Keywords
Circular features; a coplanar point; 3D orientation and position; perspective distortion;
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Times Cited By KSCI : 1  (Citation Analysis)
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