An analytic solution for the perspective 4-point problem
Computer Vision, Graphics, and Image Processing
Fitting Parameterized Three-Dimensional Models to Images
IEEE Transactions on Pattern Analysis and Machine Intelligence
Pose estimation using four corresponding points
Pattern Recognition Letters
A Note on the Number of Solutions of the Noncoplanar P4P Problem
IEEE Transactions on Pattern Analysis and Machine Intelligence
Linear Pose Estimation from Points or Lines
IEEE Transactions on Pattern Analysis and Machine Intelligence
Complete Solution Classification for the Perspective-Three-Point Problem
IEEE Transactions on Pattern Analysis and Machine Intelligence
A new method of camera pose estimation using 2D-3D corner correspondence
Pattern Recognition Letters
On the Probability of the Number of Solutions for the P4P Problem
Journal of Mathematical Imaging and Vision
A Minimal Solution to the Generalised 3-Point Pose Problem
Journal of Mathematical Imaging and Vision
Pose determination and plane measurement using a trapezium
Pattern Recognition Letters
Single view based pose estimation from circle or parallel lines
Pattern Recognition Letters
Image and Vision Computing
Representing images of a rotating object with cyclic permutation for view-based pose estimation
Computer Vision and Image Understanding
Robotics and Computer-Integrated Manufacturing
Pose estimation from multiple cameras based on Sylvester's equation
Computer Vision and Image Understanding
A branch-and-bound algorithm for globally optimal camera pose and focal length
Image and Vision Computing
Optimal non-iterative pose estimation via convex relaxation
Image and Vision Computing
Six-DOF micro-manipulator based on compliant parallel mechanism with integrated force sensor
Robotics and Computer-Integrated Manufacturing
Dynamics of the 6-6 Stewart parallel manipulator
Robotics and Computer-Integrated Manufacturing
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A vision sensor for the direct pose determination of a parallel manipulator can extend the manipulators capabilities in many aspects. The existing approaches to a solution to the pose problem fall into two distinct categories: analytical solutions and iterative solutions. In this paper, we present an efficient two-step solution for the pose determination of a parallel manipulator by combining the advantages of the above two methods. Four points in an image, vertices of a parallelogram in object space, and the correspondences among these four coplanar points are utilized in the proposed method. In the first step, four coplanar vertices of a parallelogram, which locate the parallel manipulator's surface, are detected, Subsequently, the pose of the parallel manipulator can be determined with two affine invariants. In the second step, an iterative method is introduced, and the results of the first step are passed to the current step being used as initial values of the iterative process. Also, an error matrix is established through seven error functions, that are produced by the depth estimation and the co-planarity of the four vertices. The proposed method has been experimentally validated by a calibration board and the Pan and Tilt platform, which is a parallel manipulator developed by Googol Technology Ltd. The proposed method is then compared with three other existing methods. Experimental results demonstrate that the proposed method has the advantage of lower computational cost. The accuracy and stability, which are the main concerns during the real-time applications, are also improved.