Pose estimation from circle or parallel lines in a single image

Authors:
Guanghui Wang;Q. M. Jonathan Wu;Zhengqiao Ji
Affiliations:
Department of Electrical and Computer Engineering, The University of Windsor, Windsor, Ontario, Canada and National Laboratory of Pattern Recognition, Institute of Automation, Chinese Academy of S ...;Department of Electrical and Computer Engineering, The University of Windsor, Windsor, Ontario, Canada;Department of Electrical and Computer Engineering, The University of Windsor, Windsor, Ontario, Canada
Venue:
ACCV'07 Proceedings of the 8th Asian conference on Computer vision - Volume Part II
Year:
2007

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Abstract

The paper is focused on the problem of pose estimation from a single view in minimum conditions that can be obtained from images. Under the assumption of known intrinsic parameters, we propose and prove that the pose of the camera can be recovered uniquely in three situations: (a) the image of one circle with discriminable center; (b) the image of one circle with preassigned world frame; (c) the image of any two pairs of parallel lines. Compared with previous techniques, the proposed method does not need any 3D measurement of the circle or lines, thus the required conditions are easily satisfied in many scenarios. Extensive experiments are carried out to validate the proposed method.