Determining camera pose based on cylinder
文献类型：会议论文
| 作者 | Wang T(王挺) ; Wang YC(王越超); Li XF(李小凡)
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| 出版日期 | 2006 |
| 会议名称 | IEEE International Conference on Robotics and Biomimetics (ROBIO 2006) |
| 会议日期 | December 17-20, 2006 |
| 会议地点 | Kunming, China |
| 关键词 | cylinder the P3P problem multi-solution phenomenon unique solution |
| 页码 | 761-766 |
| 通讯作者 | 王挺 |
| 中文摘要 | Camera pose determination for cylinder with single camera is it problem that is referred little and more puzzled. Traditional pose estimation methods using point features, straight line features and conics features have corresponding problems when they are applied to pose computation based on cylinder. This article designs a geometric model composed of four tangential ellipses that surround the surface of a cylinder. By using the preserved characteristic of conics and the corresponding characteristic of ellipse, we obtain three control points which can determine the pose of the model uniquely, thus the current problem of is converted into the problem of P3P. At the same time, a judgment method is developed to get the solution mode of P3P according to the distribution of visual arc tin the model based on the analysis of the solution mode region of P3P. After that the proving process is presented. At last, stimulation experiments with the algorithm are carried out and experimental results show its effectiveness. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | IEEE, IEEE Robot & Automat Soc, Robot Soc Japan, Japanese Soc Mech Engineers, Peking Univ, Beijing Inst Technol, Yunnan Univ |
| 会议录 | 2006 IEEE International Conference on Robotics and Biomimetics, Vols 1-3
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 978-1-4244-0570-1 |
| WOS记录号 | WOS:000245907301035 |
| 源URL | [http://ir.sia.cn/handle/173321/8648]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Wang T,Wang YC,Li XF. Determining camera pose based on cylinder[C]. 见:IEEE International Conference on Robotics and Biomimetics (ROBIO 2006). Kunming, China. December 17-20, 2006. |
入库方式： OAI收割
来源：沈阳自动化研究所
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