Pose Determination of a Three-Dimensional Object Using Triangle Pairs

Authors:
S. Linnainmaa;D. Harwood;L. S. Davis
Affiliations:
Technical Research Centre, Helsinki, Finland;Univ. of Maryland, College Park;Univ. of Maryland, College Park
Venue:
IEEE Transactions on Pattern Analysis and Machine Intelligence
Year:
1988

Citing 3
Cited 20

Fundamentals of interactive computer graphics

Fundamentals of interactive computer graphics
Object recognition using oriented model points

Computer Vision, Graphics, and Image Processing
Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography

Communications of the ACM

The Perspective View of Three Points

IEEE Transactions on Pattern Analysis and Machine Intelligence
Parallel calculation of 3-D pose of a known object in a single view

Pattern Recognition Letters
Generalizing the generalized hough transform

Pattern Recognition Letters
Invariant Descriptors for 3D Object Recognition and Pose

IEEE Transactions on Pattern Analysis and Machine Intelligence - Special issue on interpretation of 3-D scenes—part I
Exact and Approximate Solutions of the Perspective-Three-Point Problem

IEEE Transactions on Pattern Analysis and Machine Intelligence
A New Generalized Computational Framework for Finding Object Orientation Using Perspective Trihedral Angle Constraint

IEEE Transactions on Pattern Analysis and Machine Intelligence
Efficient Pose Clustering Using a Randomized Algorithm

International Journal of Computer Vision
Model-Based Localisation and Recognition of Road Vehicles

International Journal of Computer Vision
A General Method for Geometric Feature Matching and Model Extraction

International Journal of Computer Vision
3-D Pose from 3 Points Using Weak-Perspective

IEEE Transactions on Pattern Analysis and Machine Intelligence
Pseudo-linearizing collinearity constraint for accurate pose estimation from a single image

Pattern Recognition Letters
Efficient partial-surface registration for 3D objects

Computer Vision and Image Understanding
Registration of partially overlapping surfaces by rejection of false point correspondences

Pattern Recognition
Multiring Fiducial Systems for Scalable Fiducial-Tracking Augmented Reality

Presence: Teleoperators and Virtual Environments
Pairwise Matching of 3D Fragments Using Cluster Trees

International Journal of Computer Vision
A Quick 3D-to-2D Points Matching Based on the Perspective Projection

ISVC '08 Proceedings of the 4th International Symposium on Advances in Visual Computing
Efficient partial-surface registration for 3D objects

Computer Vision and Image Understanding
Analyzing DGI-BS: properties and performance under occlusion and noise

ACIVS'07 Proceedings of the 9th international conference on Advanced concepts for intelligent vision systems
3D scene retrieval and recognition with Depth Gradient Images

Pattern Recognition Letters
Efficient solution to the 3D problem of automatic wall paintings reassembly

Computers & Mathematics with Applications

Quantified Score

Hi-index	0.14

Visualization

Abstract

A procedure is presented to estimate the unconstrained three-dimensional location and orientation of an object with a known shape when it is visible in a single image. Using a generalized Hough transform, all six parameters of the object position are estimated from the distribution of values determined by matching triples of points on the object to possibly corresponding triples in the image. Most likely candidates for location are found, and then the remaining rotational parameters are evaluated. Two solutions are generally admitted to the distribution by every match of triangles. The number of possible matches is reduced by checking a simple geometric relation among triples. Even with partial occlusion, experiments indicate that the procedure is very reliably accurate, although optimization can further improve estimates of the parameters.