Fast and globally convergent pose estimation from video images
Top Cited Papers
- 1 June 2000
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 22 (6) , 610-622
- https://doi.org/10.1109/34.862199
Abstract
Determining the rigid transformation relating 2D images to known 3D geometry is a classical problem in photogrammetry and computer vision. Heretofore, the best methods for solving the problem have relied on iterative optimization methods which cannot be proven to converge and/or which do not effectively account for the orthonormal structure of rotation matrices. We show that the pose estimation problem can be formulated as that of minimizing an error metric based on collinearity in object (as opposed to image) space. Using object space collinearity error, we derive an iterative algorithm which directly computes orthogonal rotation matrices and which is globally convergent. Experimentally, we show that the method is computationally efficient, that it is no less accurate than the best currently employed optimization methods, and that it outperforms all tested methods in robustness to outliers.Keywords
This publication has 28 references indexed in Scilit:
- Three-dimensional object recognition from single two-dimensional imagesPublished by Elsevier ,2003
- Model-based object pose in 25 lines of codeInternational Journal of Computer Vision, 1995
- An automatic registration method for frameless stereotaxy, image guided surgery, and enhanced reality visualizationPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1994
- 3D Pose from 3 Corresponding Points Under Weak-Perspective ProjectionPublished by Defense Technical Information Center (DTIC) ,1992
- Recognizing solid objects by alignment with an imageInternational Journal of Computer Vision, 1990
- Pose estimation from corresponding point dataIEEE Transactions on Systems, Man, and Cybernetics, 1989
- Techniques for calibration of the scale factor and image center for high accuracy 3-D machine vision metrologyIEEE Transactions on Pattern Analysis and Machine Intelligence, 1988
- Closed-form solution of absolute orientation using orthonormal matricesJournal of the Optical Society of America A, 1988
- A versatile camera calibration technique for high-accuracy 3D machine vision metrology using off-the-shelf TV cameras and lensesIEEE Journal on Robotics and Automation, 1987
- A system for extracting three-dimensional measurements from a stereo pair of TV camerasComputer Graphics and Image Processing, 1978