A novel algorithm for real-time pose determination and its iterative method
We present a new method for determining object pose with respect to the camera by the images of three 3D lines and the geometric constraints of three 3D lines. The object model we use are three non-coplanar lines which intersect at two points.The advantage of this method is its mathematical expression is easy and the expression is easy to solve. As for this method, we introduce a solution method which is based on the geometry and step acceleration method. This solution method avoids the optimization process of complex non-linear equations set so as to assure the real-time characteristic of the system. Especially, we provide a detailed account of the computational aspects and the solution process of this method. At last, the simulation results which demonstrate our method works fast and robust are presented.
Line features Pose Geometric constraints Step acceleration method
Lijuan QIN Feng ZHU
Shenyang Institute of Automation Chinese Academy of Sciences Shenyang, China;Graduate School Chinese Graduate School Chinese Academy of Sciences Beijing, China
国际会议
2006 IEEE International Conference on Information Acquisition
山东威海
英文
26-30
2006-08-20（万方平台首次上网日期，不代表论文的发表时间）