標題: A vision-based method for the circle pose determination with a direct geometric interpretation
作者: Chen, Z
Huang, JB
資訊工程學系
Department of Computer Science
關鍵字: circular feature;elliptical image;largest apex angle;pose determination;principal axes;viewing cone
公開日期: 1-十二月-1999
摘要: A novel vision-based method for the circle pose determination is addressed. This method is based on two particular projected chords of a circle image. The first one is the projection of a circle chord which subtends the largest apex angle of the viewing cone for the circle image and the second one is the projection of a circle diameter whose backprojection plane bisects the above largest apex angle. This method is conceptually simple, since the circle center is the center point of the diameter chord and the circle orientation is given by the cross product of these two (directed) chords. We present theorems on the geometry of both the viewing cone and a reprojected circle image which are essential to the pose determination. We then give a pose determination method which is applicable under all viewing conditions. Experimental results illustrate the good performance of the method, when compared with other existing methods.
URI: http://dx.doi.org/10.1109/70.817678
http://hdl.handle.net/11536/30925
ISSN: 1042-296X
DOI: 10.1109/70.817678
期刊: IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION
Volume: 15
Issue: 6
起始頁: 1135
結束頁: 1140
顯示於類別:期刊論文


文件中的檔案:

  1. 000085015000016.pdf