Least-Squares Fitting of Two 3-D Point Sets
IEEE Transactions on Pattern Analysis and Machine Intelligence
An analytic solution for the perspective 4-point problem
Computer Vision, Graphics, and Image Processing
Determination of the Attitude of 3D Objects from a Single Perspective View
IEEE Transactions on Pattern Analysis and Machine Intelligence
Object recognition by computer: the role of geometric constraints
Object recognition by computer: the role of geometric constraints
Fitting Parameterized Three-Dimensional Models to Images
IEEE Transactions on Pattern Analysis and Machine Intelligence
Estimation of quaternion parameters from two dimensional image moments
CVGIP: Graphical Models and Image Processing
Model-based object pose in 25 lines of code
International Journal of Computer Vision - Special issue: image understanding research at the University of Maryland
Object Pose: The Link between Weak Perspective,Paraperspective, and Full Perspective
International Journal of Computer Vision
Recognition Using Region Correspondences
International Journal of Computer Vision
Pose estimation using point and line correspondences
Real-Time Imaging
3-D to 2-D Pose Determination with Regions
International Journal of Computer Vision - Special issue on computer vision research at NEC Research Institute
Fast and Globally Convergent Pose Estimation from Video Images
IEEE Transactions on Pattern Analysis and Machine Intelligence
Introduction to Robotics: Mechanics and Control
Introduction to Robotics: Mechanics and Control
Optimization Criteria and Geometric Algorithms for Motion and Structure Estimation
International Journal of Computer Vision
Linear Pose Estimation from Points or Lines
IEEE Transactions on Pattern Analysis and Machine Intelligence
Lines in One Orthographic and Two Perspective Views
IEEE Transactions on Pattern Analysis and Machine Intelligence
Convex Optimization
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
Journal of Mathematical Imaging and Vision
A Comparison of Affine Region Detectors
International Journal of Computer Vision
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Estimating Planar Surface Orientation Using Bispectral Analysis
IEEE Transactions on Image Processing
Base frame calibration for coordinated industrial robots
Robotics and Autonomous Systems
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A novel pose estimation algorithm is put forward in this paper. Given the points on an object and the convex regions in which the correspondent image points lie, the concrete values of position and orientation (t and R) between the object and the camera are found based on a points to regions correspondence. The unit quaternion representation of rotation matrix and convex Linear Matrix Inequalities (LMI) optimization methods are used to estimate the pose. By loosening the requirement of precise point to point correspondence and using convex LMI formulations, this algorithm provides a more robust and faster pose estimation method. The effect of this method is verified by simulation and laboratory experiment results.