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题名: Determining camera pose based on cylinder
作者: Wang T(王挺) ; Wang YC(王越超) ; Li XF(李小凡)
作者部门: 机器人学研究室
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
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
出版日期: 2006
页码: 761-766
收录类别: CPCI(ISTP) ; EI
ISBN号: 978-1-4244-0570-1
关键词: cylinder ; the P3P problem ; multi-solution phenomenon ; unique solution
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.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8648
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
王挺; 王越超; 李小凡.Determining camera pose based on cylinder.见:IEEE .2006 IEEE International Conference on Robotics and Biomimetics, Vols 1-3,NEW YORK,2006,761-766
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