Mr. Wei Liu Profile

Wei Liu

at Jilin Univ.

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Proceedings Article | 14 August 2019 Paper

Pose estimation of a single circle based on 1D homography

Yao-Wen Lv, Zichen Xu, Wei Liu, Xi-Peng Xu

Proceedings Volume 11179, 1117943 (2019) https://doi.org/10.1117/12.2539871

KEYWORDS: Cameras, Calibration, Imaging systems, Error analysis, Optimization (mathematics), Optoelectronics, Communication engineering, Machine vision, Pattern recognition

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Circular target has an important application in pose estimation based on vision by the virtue of anti-occlusion, anti-noise and easy recognition on the image. This paper focuses on the pose estimation problem when the projection of circle center is determined, and a pose calculation method is proposed based on 1D homography. Firstly, under the normalized image coordinates, a homography matrix is determined from three points, one is the projection of circle center, the other two are the intersections of the line through the projected center and the projected ellipse. According to the geometrical properties of the homography matrix, a linear method for computing the circular pose from multiple homography matrices is presented. Secondly, the reprojection errors of image points are taken as the objective function to optimize the linear solution results. Finally, the proposed method is compared with the two existing pose estimation methods through experiment. The experimental results show that the proposed method is slightly superior to the existing methods in terms of anti-noise performance and has obvious advantages in remote pose estimation.

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