Object pose from 2-D to 3-D point and line correspondences

Abstract : In this paper we present a method for optimally estimating the rotation and translation between a camera and a 3-D object from point and/or line correspondences. First we devise an error function and second we show how to minimize this error function. The quadratic nature of this function is made possible by representing rotation and translation with a dual number quaternion. We provide a detailed account of the computational aspects of a trust-region optimization method. This method compares favourably with Newton's method which has extensively been used to solve the problem at hand, with Faugeras-Toscani's linear method (Faugeras and Toscani 1986) for calibrating a camera, and with the Levenberg-Marquardt non-linear optimization method. Finally we present some experimental results which demonstrate the robustness of our method with respect to image noise and matching errors.
Document type :
Journal articles
Complete list of metadatas

Cited literature [32 references]  Display  Hide  Download

https://hal.inria.fr/inria-00590044
Contributor : Team Perception <>
Submitted on : Tuesday, May 3, 2011 - 9:12:58 AM
Last modification on : Thursday, February 7, 2019 - 5:37:31 PM
Long-term archiving on : Thursday, August 4, 2011 - 2:42:40 AM

Files

PhongHoraud-IJCV95.pdf
Files produced by the author(s)

Identifiers

Citation

Thai-Quynh Phong, Radu Horaud, Adnan Yassine, Pham-Dinh Tao. Object pose from 2-D to 3-D point and line correspondences. International Journal of Computer Vision, Springer Verlag, 1995, 15 (3), pp.225--243. ⟨10.1007/BF01451742⟩. ⟨inria-00590044⟩

Share

Metrics

Record views

392

Files downloads

727