A New Efficient and Direct Solution for Pose Estimation Using Quadrangular Targets: Algorithm and Evaluation

  • Authors:

  • M. a. Abidi;T. Chandra

  • Affiliations:

  • -;-

  • Venue:
  • IEEE Transactions on Pattern Analysis and Machine Intelligence
  • Year:
  • 1995

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Abstract

Pose estimation is an important operation for many vision tasks. In this paper, we propose a new algorithm for pose estimation based on the volume measurement of tetrahedra composed of feature-point triplets extracted from an arbitrary quadrangular target and the lens center of the vision system. The input to this algorithm are the six distances joining all feature pairs and the image coordinates of the quadrangular target. The output of this algorithm are the effective focal length of the vision system, the interior orientation parameters of the target, the exterior orientation parameters of the camera with respect to an arbitrary coordinate system if the target coordinates are known in this frame, and the final pose of the camera. We have also developed a shape restoration technique which is applied prior to pose recovery in order to reduce the effects of inaccuracies caused by image projection. An evaluation of the method has shown that this pose estimation technique is accurate and robust. Because it is based on a unique and closed-form solution, its speed makes it a potential candidate for solving a variety of landmark-based tracking problems.