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A new solution of ambiguity in pose estimation of circle feature using a concentric circle constraint
Fu ML(付明亮); Leng YQ(冷雨泉)
作者部门空间自动化技术研究室
会议名称2016 Sixth International Conference on Information Science and Technology (ICIST)
会议日期May 6-8, 2016
会议地点Dalian, China
会议录名称2016 Sixth International Conference on Information Science and Technology (ICIST)
出版者IEEE
出版地Piscataway, NJ, USA
2016
页码470-475
收录类别EI ; CPCI(ISTP)
EI收录号20162902609668
WOS记录号WOS:000386981000087
产权排序1
ISSN号2164-4357
ISBN号978-1-5090-1220-6
关键词Monocular Vision Pose Estimation Ambiguity Concentric Circle
摘要

The paper is focused on the ambiguity problem in pose estimation of circle feature and a new method is proposed based on the concentric circle constraint. The pose of a single circle feature, in general, can be determined from its projection in the image plane with a pre-calibrated camera, but there are generally two possible sets of pose parameters. By introducing the concentric circle constraint, interference of the false solution can be excluded. On the basis of element at infinity in projective geometry and the Euclidean distance invariant, cases that concentric circles are coplanar and non-coplanar are discussed respectively. Extensive experiments on these two cases are carried out to validate the proposed method.

语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/18672
专题空间自动化技术研究室
通讯作者Fu ML(付明亮)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
2.University of Chinese Academy of Sciences, Beijing 100049, China
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GB/T 7714
Fu ML,Leng YQ. A new solution of ambiguity in pose estimation of circle feature using a concentric circle constraint[C]. Piscataway, NJ, USA:IEEE,2016:470-475.
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