Solution of the perspective-three-point problem: calculation from video image by using inclinometers attached to the camera

Authors:
Loic Merckel;Toyoaki Nishida
Affiliations:
Dept. of Intelligence Science and Technology, Graduate School of Informatics, Kyoto University, Kyoto, Japan and Dept. of Scientific Systems R&D, Horiba Ltd., Kyoto, Japan;Dept. of Intelligence Science and Technology, Graduate School of Informatics, Kyoto University, Kyoto, Japan
Venue:
IEA/AIE'07 Proceedings of the 20th international conference on Industrial, engineering, and other applications of applied intelligent systems
Year:
2007

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Abstract

In this paper, we describe a method for finding the pose of an object from a single image. We assume that we can detect and match in the image three feature points of the object, and that we know their relative geometry on the object. At first we present the exact pose calculation with an existing method and emphasize the limitation. Then we introduce a new method which consists of adding to the camera an inclinometer so that we reduce the number of unknown parameters and thus are able to compute the pose efficiently by using a classical iterative optimization method.