Abstract

The pose estimation method based on geometric constraints is studied. The coordinates of the five feature points in the camera coordinate system are calculated to obtain the pose of an object on the basis of the geometric constraints formed by the connective lines of the feature points and the coordinates of the feature points on the CCD image plane; during the solution process, the scaling and orthography projection model is used to approximate the perspective projection model. The initial values of the coordinates of the five feature points in the camera coordinate system are obtained to ensure the accuracy and convergence rate of the non-linear algorithm. In accordance with the perspective projection characteristics of the circular feature landmarks, we propose an approach that enables the iterative acquisition of accurate target poses through the correction of the perspective projection coordinates of the circular feature landmark centers. Experimental results show that the translation positioning accuracy reaches ±0.05 mm in the measurement range of 0-40 mm, and the rotation positioning accuracy reaches ±0.06o in the measurement range of 4o-60o.

© 2011 Chinese Optics Letters

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2010 (3)

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

H. Cui, W. Liao, X. Cheng, N. Dai, and T. Yuan, Chin. Opt. Lett. 8, 33 (2010).

T. Jin, H. Jia, and W. Hou, Chin. Opt. Lett. 8, 601 (2010).

2008 (1)

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

2007 (2)

X. Gao, K. Xu, H. Zhang, and X. Liu, Chinese J. Scientific Instrument (in Chinese) 28, 1479 (2007).

S. Chen, T. Zhou, X. Zhang, and C. Sun, Chinese J. Sensors and Actuators (in Chinese) 20, 2011 (2007).

2006 (1)

2005 (1)

Y. Fang, D. M. Dawson, W. E. Dixon, and P. Chawda, IEEE Trans. Syst. Man Cybernet 35, 1041 (2005).

2002 (2)

S. Hao, Z. Chai, Z. Zhang, and Y. Hu, Electronics optics and control (in Chinese) 9, 19 (2002).

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

2001 (1)

E. Paperno, I. Sasada, and E. Leonovich, IEEE Trans. Magnetic Tracking 37, 1938 (2001).

1999 (1)

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

1996 (1)

J. Heikkila and O. Silv'en, Int. J. Pattern Recognition and Artificial Intelligence 10, 1066 (1996).

1995 (1)

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

Chai, Z.

S. Hao, Z. Chai, Z. Zhang, and Y. Hu, Electronics optics and control (in Chinese) 9, 19 (2002).

Chao, Z.

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

Chawda, P.

Y. Fang, D. M. Dawson, W. E. Dixon, and P. Chawda, IEEE Trans. Syst. Man Cybernet 35, 1041 (2005).

Chen, S.

S. Chen, T. Zhou, X. Zhang, and C. Sun, Chinese J. Sensors and Actuators (in Chinese) 20, 2011 (2007).

Chen, W.

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

Cheng, X.

Cui, H.

Dai, N.

Davis, L. S.

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

Dawson, D. M.

Y. Fang, D. M. Dawson, W. E. Dixon, and P. Chawda, IEEE Trans. Syst. Man Cybernet 35, 1041 (2005).

DeMenthon, D. F.

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

Dixon, W. E.

Y. Fang, D. M. Dawson, W. E. Dixon, and P. Chawda, IEEE Trans. Syst. Man Cybernet 35, 1041 (2005).

Fang, Y.

Y. Fang, D. M. Dawson, W. E. Dixon, and P. Chawda, IEEE Trans. Syst. Man Cybernet 35, 1041 (2005).

Gao, X.

X. Gao, K. Xu, H. Zhang, and X. Liu, Chinese J. Scientific Instrument (in Chinese) 28, 1479 (2007).

Hao, S.

S. Hao, Z. Chai, Z. Zhang, and Y. Hu, Electronics optics and control (in Chinese) 9, 19 (2002).

Heikkila, J.

J. Heikkila and O. Silv'en, Int. J. Pattern Recognition and Artificial Intelligence 10, 1066 (1996).

Hou, W.

Hu, Y.

S. Hao, Z. Chai, Z. Zhang, and Y. Hu, Electronics optics and control (in Chinese) 9, 19 (2002).

Hu, Z. Y.

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

Huang, W.

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

Jia, H.

Jiang, G.

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

Jin, T.

Leonovich, E.

E. Paperno, I. Sasada, and E. Leonovich, IEEE Trans. Magnetic Tracking 37, 1938 (2001).

Liao, W.

Liu, M. L.

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

Liu, X.

X. Gao, K. Xu, H. Zhang, and X. Liu, Chinese J. Scientific Instrument (in Chinese) 28, 1479 (2007).

Paperno, E.

E. Paperno, I. Sasada, and E. Leonovich, IEEE Trans. Magnetic Tracking 37, 1938 (2001).

Sasada, I.

E. Paperno, I. Sasada, and E. Leonovich, IEEE Trans. Magnetic Tracking 37, 1938 (2001).

Silv'en, O.

J. Heikkila and O. Silv'en, Int. J. Pattern Recognition and Artificial Intelligence 10, 1066 (1996).

Song, S.

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

Sun, C.

S. Chen, T. Zhou, X. Zhang, and C. Sun, Chinese J. Sensors and Actuators (in Chinese) 20, 2011 (2007).

C. Sun, L. Tao, and P. Wang, Chin. Opt. Lett. 4, 282 (2006).

Tang, J.

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

Tao, L.

Wang, J.

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

Wang, P.

Wong, K. H.

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

Wu, F. C.

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

Xu, K.

X. Gao, K. Xu, H. Zhang, and X. Liu, Chinese J. Scientific Instrument (in Chinese) 28, 1479 (2007).

Yu, Q.

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

Yuan, T.

Zhang, H.

X. Gao, K. Xu, H. Zhang, and X. Liu, Chinese J. Scientific Instrument (in Chinese) 28, 1479 (2007).

Zhang, X.

S. Chen, T. Zhou, X. Zhang, and C. Sun, Chinese J. Sensors and Actuators (in Chinese) 20, 2011 (2007).

Zhang, Z.

S. Hao, Z. Chai, Z. Zhang, and Y. Hu, Electronics optics and control (in Chinese) 9, 19 (2002).

Zhou, T.

S. Chen, T. Zhou, X. Zhang, and C. Sun, Chinese J. Sensors and Actuators (in Chinese) 20, 2011 (2007).

Applied Mathematics and Computation (1)

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

Chin. Opt. Lett. (3)

Chinese J. Scientific Instrument (in Chinese) (1)

X. Gao, K. Xu, H. Zhang, and X. Liu, Chinese J. Scientific Instrument (in Chinese) 28, 1479 (2007).

Chinese J. Sensors and Actuators (in Chinese) (1)

S. Chen, T. Zhou, X. Zhang, and C. Sun, Chinese J. Sensors and Actuators (in Chinese) 20, 2011 (2007).

Electronics optics and control (in Chinese) (1)

S. Hao, Z. Chai, Z. Zhang, and Y. Hu, Electronics optics and control (in Chinese) 9, 19 (2002).

IEEE Trans. Magnetic Tracking (1)

E. Paperno, I. Sasada, and E. Leonovich, IEEE Trans. Magnetic Tracking 37, 1938 (2001).

IEEE Trans. Syst. Man Cybernet (1)

Y. Fang, D. M. Dawson, W. E. Dixon, and P. Chawda, IEEE Trans. Syst. Man Cybernet 35, 1041 (2005).

Int. J. Pattern Recognition and Artificial Intelligence (1)

J. Heikkila and O. Silv'en, Int. J. Pattern Recognition and Artificial Intelligence 10, 1066 (1996).

International Journal on Computer Vision (1)

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

Optics Precision Eng. (in Chinese) (1)

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

Pattern Anal. Mach. Intell. (1)

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

Pattern Recognition Lett. (1)

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

Other (3)

M. Maeda, T. Oqawa, K. Kiyokawa, and H. Takemura, in Proceedings of the Eighth International Symposium on Wearable Computers 77 (2004).

F. Tatar, J. Mollinger, and A. Bossche, Proc. IEEE on Sensors 987 (2003).

S. Chen, T. Zhou, X. Zhang, and C. Sun, "Study on the monocular vision measurement system of the position and attitude of the object" (in Chinese), Master Thesis (Tianjin University, 2007).

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