Pose determination from one point and two coplanar line features

Authors:
Chang Liu;Feng Zhu;Zenghui Jin;Renbo Xia
Affiliations:
Shenyang Institute of Automation, CAS, Shenyang, P.R. China,Shenyang Ligong University, Shenyang, P.R. China,Graduate School of the Chinese Academy of Sciences, Beijing, P.R. China,Key Laboratory ...;Shenyang Institute of Automation, CAS, Shenyang, P.R. China,Key Laboratory of Opto-Electronic Information Processing, CAS, Shenyang, P.R. China;Military Representative Office of Air Force in Shenyang, Shenyang, P.R. China;Shenyang Institute of Automation, CAS, Shenyang, P.R. China,Key Laboratory of Opto-Electronic Information Processing, CAS, Shenyang, P.R. China
Venue:
ICIC'12 Proceedings of the 8th international conference on Intelligent Computing Theories and Applications
Year:
2012

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Abstract

Monocular pose determination from point and line mixed features is a typical problem in computer vision. Given one point feature and two coplanar line features on an object and their correspondences on the image plane of a calibrated camera, the pose parameters between the camera and the object can be calculated. The problem is studied in two cases that two lines are parallel or not. The solution number properties of the problem are proved according to the geometric relationship of the three features, and generally it has two solutions at most. The closed form solution of the problem is also presented. The results provide a new method for pose determination using monocular vision.