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Monocular vision for pose estimation in space based on cone projection

机译：基于圆锥投影的单目视觉空间姿态估计

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摘要

This paper presents a three-dimensional (3-D) pose estimation algorithm based on monocular vision. The algorithm relies on the circle target whose radius is known, with the scale condition given, the depth information of the circle can be recovered incompletely, and finally the pose of the target can be estimated by single projection only. First, the circle target was mapped to be an upright elliptic cone in the pinhole imaging model. Second, radius constraint was applied to recover partial depth of the circle target based on the upright elliptic cone. Experimental work concerning the validity and accuracy of this method is presented; furthermore, an application case for robot-aided positioning is introduced.
机译：本文提出了一种基于单眼视觉的三维（3-D）姿态估计算法。该算法依赖于已知半径的圆目标，在给定缩放条件的情况下，圆的深度信息不能完全恢复，最后只能通过单次投影来估计目标的姿态。首先，在针孔成像模型中，将圆形目标映射为直立的椭圆锥。其次，应用半径约束来恢复基于直立椭圆锥的圆形目标的部分深度。提出了有关该方法有效性和准确性的实验工作；此外，介绍了机器人辅助定位的应用案例。

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  • 来源
    《Optical engineering》 |2017年第10期|103108.1-103108.11|共11页
  • 作者

    Mei Jiangping; Zhang Dian; Ding Yabin;

  • 作者单位

    Tianjin University, School of Mechanical Engineering, Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin, China;

    Tianjin University, School of Mechanical Engineering, Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin, China;

    Tianjin University, School of Mechanical Engineering, Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin, China;

  • 收录信息 美国《科学引文索引》(SCI);美国《工程索引》(EI);
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    circle projection; cone geometry; parallel robot positioning; three-dimensional pose estimation;

    机译：圆形投影圆锥几何;并行机器人定位;三维姿态估计;

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