Book Chapter10.1007/978-3-540-24768-5_97
A Line-Based Pose Estimation Algorithm for 3-D Polyhedral Object Recognition
Tae-Jung Lho,Dong-Joong Kang,Jong-Eun Ha +2 more
- 14 May 2004
- pp 906-914
TL;DR: An iterative least-square method is used to solve both rotation and translation simultaneously and Levenberg-Marquardt algorithm is introduced with uniform sampling strategy of rotation space to avoid stuck in local minimum.
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Abstract: In this paper, we present a new approach to solve the problem of estimating the camera 3-D location and orientation from a matched set of 3-D model and 2-D image features. An iterative least-square method is used to solve both rotation and translation simultaneously. Because conventional methods that solved for rotation first and then translation do not provide good solutions, we derive an error equation using roll-pitch-yaw angle to present the rotation matrix. From the modeling of the error equation, we analytically extract the partial derivates for estimation parameters from the nonlinear error equation. To minimize the error equation, Levenberg-Marquardt algorithm is introduced with uniform sampling strategy of rotation space to avoid stuck in local minimum. Experimental results using real images are presented.
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Robust methods for estimating pose and a sensitivity analysis
Rakesh Kumar,Allen R. Hanson +1 more
TL;DR: It is shown that for small field of view systems, offsets in the image center do not significantly affect the location of the camera in a world coordinate system, and errors in the focal length significantly affect only the component of translation along the optical axis in the pose computation.
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A 3-d sensor system for teaching robot paths and environments
Masaru Ishii,Yoshio Mikami +1 more
TL;DR: In this article, a 3D sensor system consisting of a camera using a position-sensitive device and multiple LEDs (light emitting diode) attached to robotic devices, such as a robot's hand and a teaching device, is discussed.
49
Fast object recognition using dynamic programming from combination of salient line groups
TL;DR: A dynamic programming-based formulation extracting salient line patterns by defining a robust and stable geometric representation that is based on perceptual organizations is proposed that is able to find reasonable line groups in a short time.
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