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Proceedings Paper

A faster relative 3D position and attitude algorithm based on special four-point feature
Author(s): Shunliang Pan; Xiaojian Wang; Weiqun Shen; Zishan Song
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Paper Abstract

Computer vision is gaining significant importance as a cheap, passive, and information-rich sensor in research areas such as unmanned vehicle. Using computer vision can estimate relative 3D position and attitude. This paper puts forward a new faster relative 3D position and attitude approach based on special four feature points. This method used prior knowledge of the four feature points of a square and parallel relation, avoided complicated iterative arithmetic in general four feature points' methods, and reduced time of objects position and attitude estimation. The theory and experiments with simulated data showed that the approach is efficient, robust and real-time.

Paper Details

Date Published: 24 October 2006
PDF: 7 pages
Proc. SPIE 6357, Sixth International Symposium on Instrumentation and Control Technology: Signal Analysis, Measurement Theory, Photo-Electronic Technology, and Artificial Intelligence, 63571A (24 October 2006); doi: 10.1117/12.716958
Show Author Affiliations
Shunliang Pan, Beijing Univ. of Aeronautics and Astronautics (China)
Xiaojian Wang, Beijing Univ. of Aeronautics and Astronautics (China)
Weiqun Shen, Beijing Univ. of Aeronautics and Astronautics (China)
Zishan Song, Beijing Univ. of Aeronautics and Astronautics (China)


Published in SPIE Proceedings Vol. 6357:
Sixth International Symposium on Instrumentation and Control Technology: Signal Analysis, Measurement Theory, Photo-Electronic Technology, and Artificial Intelligence
Jiancheng Fang; Zhongyu Wang, Editor(s)

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