Robust pose estimation from a planar target
In theory, the pose of a calibrated camera can be uniquely determined from a minimum of four coplanar but noncollinear points. In practice, there are many applications of camera pose tracking from planar targets and there is also a number of recent pose estimation algorithms which perform this task...
| Veröffentlicht in: | IEEE transactions on pattern analysis and machine intelligence. - 1979. - 28(2006), 12 vom: 16. Dez., Seite 2024-30 |
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| Format: | Aufsatz |
| Sprache: | English |
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2006
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| Zugriff auf das übergeordnete Werk: | IEEE transactions on pattern analysis and machine intelligence |
| Schlagworte: | Journal Article Research Support, Non-U.S. Gov't |
| Zusammenfassung: | In theory, the pose of a calibrated camera can be uniquely determined from a minimum of four coplanar but noncollinear points. In practice, there are many applications of camera pose tracking from planar targets and there is also a number of recent pose estimation algorithms which perform this task in real-time, but all of these algorithms suffer from pose ambiguities. This paper investigates the pose ambiguity for planar targets viewed by a perspective camera. We show that pose ambiguities--two distinct local minima of the according error function--exist even for cases with wide angle lenses and close range targets. We give a comprehensive interpretation of the two minima and derive an analytical solution that locates the second minimum. Based on this solution, we develop a new algorithm for unique and robust pose estimation from a planar target. In the experimental evaluation, this algorithm outperforms four state-of-the-art pose estimation algorithms |
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| Beschreibung: | Date Completed 26.12.2006 Date Revised 19.11.2006 published: Print Citation Status MEDLINE |
| ISSN: | 1939-3539 |