Monocular pose of a rigid body using point landmarks

Radha Krishnan, H. J. Sommer, Peter D. Spidaliere

Research output: Contribution to journalArticlepeer-review

10 Scopus citations


An iterative algorithm has been developed to determine threedimensional camera coordinates for landmarks on a rigid body, using two-dimensional image coordinates of the landmarks from a single camera. The landmarks may be coplanar or noncoplanar. The algorithm has been generalized for any number of landmarks (N ≥ 3). Monte Carlo simulation results of expected target range and attitude errors as related to range, attitude, focal length, number of landmarks and target planarity are presented. In addition, a table comparing results from previous research on pose recovery is also presented with respect to two nondimensional parameters, namely, range-size ratio (RSR) and focal-length-tonoise ratio (FNR). The concepts of RSR and FNR are very valuable in comparing results across different conditions used by different authors.

Original languageEnglish (US)
Pages (from-to)307-316
Number of pages10
JournalCVGIP: Image Understanding
Issue number3
StatePublished - May 1992

All Science Journal Classification (ASJC) codes

  • General Environmental Science
  • General Engineering
  • General Earth and Planetary Sciences


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