How to Compute the Pose of an Object without a Direct View?

Peter Sturm 1 Thomas Bonfort 1
1 MOVI - Modeling, localization, recognition and interpretation in computer vision
GRAVIR - IMAG - Graphisme, Vision et Robotique, Inria Grenoble - Rhône-Alpes, CNRS - Centre National de la Recherche Scientifique : FR71
Abstract : We consider the task of computing the pose of an object relative to a camera, for the case where the camera has no direct view of the object. This problem was encountered in work on vision-based inspection of specular or shiny surfaces, that is often based on analyzing images of calibration grids or other objects, re ected in such a surface. A natural setup consists thus of a camera and a calibration grid, put side-by-side, i.e. without the camera having a direct view of the grid. A straightforward idea for computing the pose is to place planar mirrors such that the camera sees the calibration grid's re ection. In this paper, we consider this idea, describe geometrical properties of the setup and propose a practical algorithm for the pose computation.2
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Communication dans un congrès
Asian Conference on Computer Vision, Jan 2006, Hyderabad, India. 2, pp.21-31, 2006
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Peter Sturm, Thomas Bonfort. How to Compute the Pose of an Object without a Direct View?. Asian Conference on Computer Vision, Jan 2006, Hyderabad, India. 2, pp.21-31, 2006. 〈inria-00387128〉

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