Abstract

A two-step method for pose estimation based on five co-planar reference points is studied. In the first step, the pose of the object is estimated by a simple analytical solving process. The pixel coordinates of reference points on the image plane are extracted through image processing. Then, using affine invariants of the reference points with certain distances between each other, the coordinates of reference points in the camera coordinate system are solved. In the second step, the results obtained in the first step are used as initial values of an iterative solving process for gathering the exact solution. In such a solution, an unconstrained nonlinear optimization objective function is established through the objective functions produced by the depth estimation and the co-planarity of the five reference points to ensure the accuracy and convergence rate of the non-linear algorithm. The Levenberg-Marquardt optimization method is utilized to refine the initial values. The coordinates of the reference points in the camera coordinate system are obtained and transformed into the pose of the object. Experimental results show that the RMS of the azimuth angle reaches 0.076° in the measurement range of 0o-90o; the root mean square (RMS) of the pitch angle reaches 0.035o in the measurement range of 0°-60°; and the RMS of the roll angle reaches 0.036° in the measurement range of 0°-60°.

© 2012 Chinese Optics Letters

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J. Tang, W. Chen, and J. Wang, Applied Mathematics and Computation 205, 628 (2008).

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Computing, Image and Vision

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Gopinath, K.

Goyal, A.

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Huang, F.

F. Huang and H. Qian, Opto-Electron. Eng. (in Chinese) 34, 69 (2007).

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Z. Chao, G. Jiang, W. Huang, S. Song, and Q. Yu, Opt. Prec. Eng. (in Chinese) 18, 2044 (2010).

Jia, H.

Jiang, G.

Z. Chao, G. Jiang, W. Huang, S. Song, and Q. Yu, Opt. Prec. Eng. (in Chinese) 18, 2044 (2010).

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King, I.

S. H. Or, W. S. Luk, K. H. Wong, and I. King, Image and Vision Computing, 16, 353 (1998).

Li, S.

Y. Hao, Q. Wu, C. Zhou, S. Li, and F. Zhu, Robot 28, 656 (2006).

Liu, M. L.

M. L. Liu and K. H. Wong, Pattern Recognition Lett. 20, 69 (1999).

Luk, W. S.

S. H. Or, W. S. Luk, K. H. Wong, and I. King, Image and Vision Computing, 16, 353 (1998).

MacFarlane, D. L.

Maru, K.

Nagai, N.

Ohta, N.

Or, S. H.

S. H. Or, W. S. Luk, K. H. Wong, and I. King, Image and Vision Computing, 16, 353 (1998).

Qian, H.

F. Huang and H. Qian, Opto-Electron. Eng. (in Chinese) 34, 69 (2007).

Shimada, K.

Song, S.

Z. Chao, G. Jiang, W. Huang, S. Song, and Q. Yu, Opt. Prec. Eng. (in Chinese) 18, 2044 (2010).

Sun, C.

Z. Zhang, C. Sun, P. Sun, and P. Wang, Chin. Opt. lett. 9, 081501 (2011).

P. Wang, C. Sun, and Z. Zhang, Chin. J. Scient. Instrum. (in Chinese) 32, 1126 (2011).

J. Zhang, C. Sun, and W. Cai, opt. tech. 36, 187 (2010).

P. Wang, X. Xu, Z. Zhang, and C. Sun, Chin. Opt. Lett. 8, 55 (2010).

S. Chen, T. Zhou, X. Zhang, and C. Sun, Chin. J. Sens. and Actuat. (in Chinese) 20, 2011 (2007).

Sun, P.

Tang, J.

J. Tang, W. Chen, and J. Wang, Applied Mathematics and Computation 205, 628 (2008).

Wang, J.

J. Tang, W. Chen, and J. Wang, Applied Mathematics and Computation 205, 628 (2008).

L. Xu and J. Wang, Fire Control and Command Control (in Chinese) 31, 80 (2006).

Wang, P.

Wildey, C.

Wong, K. H.

M. L. Liu and K. H. Wong, Pattern Recognition Lett. 20, 69 (1999).

S. H. Or, W. S. Luk, K. H. Wong, and I. King, Image and Vision Computing, 16, 353 (1998).

Wu, F.

Z. Hu and F. Wu, IEEE Trans. Pattern Anal. Mach. Intell. 24, 550 (2002).

Wu, Q.

Y. Hao, Q. Wu, C. Zhou, S. Li, and F. Zhu, Robot 28, 656 (2006).

Xu, L.

L. Xu and J. Wang, Fire Control and Command Control (in Chinese) 31, 80 (2006).

Xu, X.

Yamamoto, R.

Yu, Q.

Z. Chao, G. Jiang, W. Huang, S. Song, and Q. Yu, Opt. Prec. Eng. (in Chinese) 18, 2044 (2010).

Zhang, J.

J. Zhang, C. Sun, and W. Cai, opt. tech. 36, 187 (2010).

Zhang, X.

S. Chen, T. Zhou, X. Zhang, and C. Sun, Chin. J. Sens. and Actuat. (in Chinese) 20, 2011 (2007).

Zhang, Z.

P. Wang, C. Sun, and Z. Zhang, Chin. J. Scient. Instrum. (in Chinese) 32, 1126 (2011).

Z. Zhang, C. Sun, P. Sun, and P. Wang, Chin. Opt. lett. 9, 081501 (2011).

P. Wang, X. Xu, Z. Zhang, and C. Sun, Chin. Opt. Lett. 8, 55 (2010).

S. Hao, Z. Chai, Z. Zhang, and Y. Hu, Electron. Opt. Control (in Chinese) 9, 19 (2002).

Zhou, C.

Y. Hao, Q. Wu, C. Zhou, S. Li, and F. Zhu, Robot 28, 656 (2006).

Zhou, T.

S. Chen, T. Zhou, X. Zhang, and C. Sun, Chin. J. Sens. and Actuat. (in Chinese) 20, 2011 (2007).

Zhu, F.

Y. Hao, Q. Wu, C. Zhou, S. Li, and F. Zhu, Robot 28, 656 (2006).

Appl. Opt. (1)

Applied Mathematics and Computation (1)

J. Tang, W. Chen, and J. Wang, Applied Mathematics and Computation 205, 628 (2008).

Chin. J. Scient. Instrum. (in Chinese) (1)

P. Wang, C. Sun, and Z. Zhang, Chin. J. Scient. Instrum. (in Chinese) 32, 1126 (2011).

Chin. J. Sens. and Actuat. (in Chinese) (1)

S. Chen, T. Zhou, X. Zhang, and C. Sun, Chin. J. Sens. and Actuat. (in Chinese) 20, 2011 (2007).

Chin. Opt. lett. (1)

Electron. Opt. Control (in Chinese) (1)

S. Hao, Z. Chai, Z. Zhang, and Y. Hu, Electron. Opt. Control (in Chinese) 9, 19 (2002).

Fire Control and Command Control (in Chinese) (1)

L. Xu and J. Wang, Fire Control and Command Control (in Chinese) 31, 80 (2006).

IEEE Trans. Pattern Anal. Mach. Intell. (1)

Z. Hu and F. Wu, IEEE Trans. Pattern Anal. Mach. Intell. 24, 550 (2002).

International Journal on Computer Vision (1)

D. F. DeMenthon and L. S. Davis, International Journal on Computer Vision 15, 123 (1995).

Opt. Prec. Eng. (in Chinese) (1)

Z. Chao, G. Jiang, W. Huang, S. Song, and Q. Yu, Opt. Prec. Eng. (in Chinese) 18, 2044 (2010).

opt. tech. (1)

J. Zhang, C. Sun, and W. Cai, opt. tech. 36, 187 (2010).

Opto-Electron. Eng. (in Chinese) (1)

F. Huang and H. Qian, Opto-Electron. Eng. (in Chinese) 34, 69 (2007).

Pattern Recognition Lett. (1)

M. L. Liu and K. H. Wong, Pattern Recognition Lett. 20, 69 (1999).

Robot (1)

Y. Hao, Q. Wu, C. Zhou, S. Li, and F. Zhu, Robot 28, 656 (2006).

Other (3)

S. Chen, "Study on the monocular vision measurement system of the position and orientation of object" PhD. Thesis (Tianjin University, 2007).

S. H. Or, W. S. Luk, K. H. Wong, and I. King, Image and Vision Computing, 16, 353 (1998).

L. Tao, "Study on Key Technique for Color 3D Laser Scanning System" (in Chinese) PhD. Thesis (Tianjin University, 2005).

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