3-D Pose Estimation of an Elliptic Object Using Two Coplanar Points

두 개의 공면점을 활용한 타원물체의 3차원 위치 및 자세 추정

  • 김헌희 (광운대학교 예술로봇연구소) ;
  • 박광현 (광운대학교 로봇학부) ;
  • 하윤수 (한국해양대학교 IT공학부)
  • Received : 2011.10.11
  • Accepted : 2012.06.27
  • Published : 2012.07.25


This paper presents a 3-D pose (position and orientation) estimation method for an elliptic object in 3-D space. It is difficult to resolve the problem of determining 3-D pose parameters with respect to an elliptic feature in 3-D space by interpretation of its projected feature onto an image plane. As an alternative, we propose a two points-based pose estimation algorithm to seek the 3-D information of an elliptic feature. The proposed algorithm determines a homogeneous transformation uniquely for a given correspondence set of an ellipse and two coplanar points that are defined on model and image plane, respectively. For each plane, two triangular features are extracted from an ellipse and two points based on the polarity in 2-D projection space. A planar homography is first estimated by the triangular feature correspondences, then decomposed into 3-D pose parameters. The proposed method is evaluated through a series of experiments for analyzing the errors of 3-D pose estimation and the sensitivity with respect to point locations.


Supported by : 한국연구재단


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