Circular Laser/Camera-based attitude and altitude estimation: minimal and robust solutions

Rémi Boutteau 1 Peter Sturm 2 Pascal Vasseur 3 Cédric Demonceaux 4, 5
1 IRSEEM - Institut de Recherche en Systèmes Electroniques Embarqués
2 STEEP - Sustainability transition, environment, economy and local policy
Inria Grenoble - Rhône-Alpes, LJK - Laboratoire Jean Kuntzmann
3 LITIS - Laboratoire d'Informatique, de Traitement de l'Information et des Systèmes
4 Le2i - Laboratoire d'Electronique, d'Informatique et d'Image [EA 7508]
5 VIBOT - VIsion pour la roBOTique [VIBOT CNRS ERL 6000]
CNRS - Centre National de la Recherche Scientifique : ERL6000, Le2i - Laboratoire d'Electronique, d'Informatique et d'Image [EA 7508]
Abstract : This paper proposes a basic structured light system for pose estimation. It consists of a circular laser pattern and a camera rigidly attached to the laser source. We develop a geometric modeling that allows to efficiently estimate the pose at scale of the system, relative to a reference plane onto which the pattern is projected. Three different robust estimation strategies, including two minimal solutions are also presented with this geometric formulation. Synthetic and real experiments are performed for a complete evaluation, both quantitatively and qualitatively, according to different scenarios and environments. We also show that the system can be embedded for UAV experiments.
Keywords : Robust pose estimation Conic Structured light Epipolar geometry
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https://hal.inria.fr/hal-01684031
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Rémi Boutteau, Peter Sturm, Pascal Vasseur, Cédric Demonceaux. Circular Laser/Camera-based attitude and altitude estimation: minimal and robust solutions. Journal of Mathematical Imaging and Vision, Springer Verlag, 2018, 60 (3), pp.382-400. ⟨10.1007/s10851-017-0764-y⟩. ⟨hal-01684031⟩

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