The judgment method for the unique solution of real-time pose estimation from particular line correspondences
文献类型：会议论文
| 作者 | Qin LJ(秦丽娟); Zhu F(朱枫)
|
| 出版日期 | 2006 |
| 会议名称 | IEEE International Conference on Mechatronics and Automation |
| 会议日期 | June 25-28, 2006 |
| 会议地点 | Luoyang, China |
| 关键词 | line features pose estimation multi-solution phenomenon unique solution |
| 页码 | 1216-1220 |
| 中文摘要 | We usually can determine object pose from three lines in general position. For the particular line configuration of three non-coplanar lines which intersect at two points', it has some particular characteristics three lines in general position don't have, thus its mathematical expression is easy and it is easy to solve if we use this particular line configuration to locate object. This method enriches the pose estimation methods from three line correspondences in theory, at the same time, it provides the base for the practical applications. The article introduces the pose estimation method from this particular line configuration. The multi-solution phenomenon is the dominating problem that puzzles the computer vision for a long time and it will limit the application of pose estimation algorithm. To solve the multi-solution problem, we present a novel method, to find the unique solution by position information of space lines. Especially, we provide a detailed account of the realizable aspects of the judgment method. At last, the simulation results which demonstrate our algorithm method works fast and robust are presented. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | IEEE Robot & Automat Soc, Shandong Univ, Harbin Engn Univ, Univ Elect Sci & Technol China, IEEE Hong Kong Sect Joint RACS Chapter, Robot Soc Japan, Japan Soc Mech Engineers, Japan Soc Precis Engn, Chinese Univ Hong Kong, Chiba Inst Technol, Kagawa Univ |
| 会议录 | IEEE ICMA 2006: Proceeding of the 2006 IEEE International Conference on Mechatronics and Automation, Vols 1-3, Proceedings
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 1-4244-0465-7 |
| WOS记录号 | WOS:000241434601068 |
| 源URL | [http://ir.sia.cn/handle/173321/8027]  |
| 专题 | 沈阳自动化研究所_光电信息技术研究室 |
| 推荐引用方式 GB/T 7714 | Qin LJ,Zhu F. The judgment method for the unique solution of real-time pose estimation from particular line correspondences[C]. 见:IEEE International Conference on Mechatronics and Automation. Luoyang, China. June 25-28, 2006. |
入库方式： OAI收割
来源：沈阳自动化研究所
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