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Proceedings Paper

Monocular pose estimation algorithm based on the bundle adjustment method
Author(s): Weimin Li; Yan Li; Lichun Zhu; Di Zhang; Hui Liu; Yu Zhao
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Paper Abstract

To determine the relative pose between an object and a single camera using correspondences between 3D feature points of the object and their corresponding 2D projections in the image, this paper proposes a target’s pose measurement algorithm based on the bundle adjustment method. This iterative algorithm can be divided into two steps: first, a reliable initial pose is computed by using only three non-collinear points; second, the optimal rotation and translation matrix of the target is estimated based on the bundle adjustment method. Experiments on simulated data and real data show that this method can get high precision with its rotation angles error within 20 arc-second and the translation error within 20 micron in ideal occasions.

Paper Details

Date Published: 19 September 2014
PDF: 12 pages
Proc. SPIE 9216, Optics and Photonics for Information Processing VIII, 921617 (19 September 2014); doi: 10.1117/12.2060816
Show Author Affiliations
Weimin Li, Univ. of Science and Technology of China (China)
Yan Li, Univ. of Science and Technology of China (China)
Lichun Zhu, National Astronomical Observatories (China)
Di Zhang, Univ. of Science and Technology of China (China)
Hui Liu, Univ. of Science and Technology of China (China)
Yu Zhao, Univ. of Science and Technology of China (China)


Published in SPIE Proceedings Vol. 9216:
Optics and Photonics for Information Processing VIII
Abdul A. S. Awwal; Khan M. Iftekharuddin; Mohammad A. Matin; Andrés Márquez, Editor(s)

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