Monocular pose of a rigid body using point landmarks

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

doi:10.1016/1049-9660(92)90028-2

Monocular pose of a rigid body using point landmarks

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

Mechanical Engineering

Research output: Contribution to journal › Article › peer-review

10 Scopus citations

Abstract

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 language	English (US)
Pages (from-to)	307-316
Number of pages	10
Journal	CVGIP: Image Understanding
Volume	55
Issue number	3
DOIs	https://doi.org/10.1016/1049-9660(92)90028-2
State	Published - May 1992

All Science Journal Classification (ASJC) codes

General Environmental Science
General Engineering
General Earth and Planetary Sciences

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10.1016/1049-9660(92)90028-2

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title = "Monocular pose of a rigid body using point landmarks",

abstract = "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.",

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AU - Krishnan, Radha

AU - Sommer, H. J.

AU - Spidaliere, Peter D.

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AB - 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.

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Monocular pose of a rigid body using point landmarks

Abstract

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