Optimal estimation of object pose from a single perspective view
- 11 May 1993
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 534-539
- https://doi.org/10.1109/iccv.1993.378166
Abstract
International audienceIn this paper we present a method for robustly and accurately estimating the rotation and translation between a camera and a 3-D object from point and line correspondences. First we devise an error function and second we show how to minimize this error function. The quadratic nature of this function is made possible by representing rotation and translation with a dual number quaternion. We provide a detailed account of the computational aspecis of a trust-region optimization method. This method compares favourably with Newton's method which has extensively been used to solve the problem at hand, with Faugeras-Toscani's linear method [3] for calibrating a camera. Finally we present some experimental results which demonstrate the robustness of our method with respect to image noise and matching errorKeywords
This publication has 12 references indexed in Scilit:
- Three-dimensional object recognition from single two-dimensional imagesPublished by Elsevier ,2003
- Robust estimation of camera location and orientation from noisy data having outliersPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Estimating 3-D location parameters using dual number quaternionsCVGIP: Image Understanding, 1991
- Determination of camera location from 2-D to 3-D line and point correspondencesPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1990
- Training multi-layered neural network with a trust-region based algorithmESAIM: Mathematical Modelling and Numerical Analysis, 1990
- Determination of the attitude of 3D objects from a single perspective viewPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1989
- An analytic solution for the perspective 4-point problemComputer Vision, Graphics, and Image Processing, 1989
- A general photogrammetric method for determining object position and orientationIEEE Transactions on Robotics and Automation, 1989
- Recent Developments in Algorithms and Software for Trust Region MethodsPublished by Springer Nature ,1983
- Newton’s Method with a Model Trust Region ModificationSIAM Journal on Numerical Analysis, 1982