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Proceedings Paper

Pose estimation and representation of cylinders from single two-dimensional images in modeling remotely operated vehicle (ROV) environments
Author(s): Rune Volden
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Paper Abstract

In this paper a method is proposed on how to extract cylinders from single 2D images. The operator restricts the search area for the image ellipse from the projected cylinder, and a least- square ellipse is obtained and verified by the operator. By knowing the radius and length of the cylinder, an algorithm using projective geometry back projects the image ellipse to a circle in three-space. The center and normal vector to this circle are obtained. If both cylinder tangents are visible, a better estimate of cylinder axis is obtained. From this a synthetic cylinder is computed and projected onto the original image. If the synthetic cylinder is a good fit, it is transferred to a CAD model of the environment, which is updated. The operator receives an updated version of the environment, which either includes a new cylinder or a better pose estimate of one of the previously identified cylinders.

Paper Details

Date Published: 26 October 1994
PDF: 12 pages
Proc. SPIE 2258, Ocean Optics XII, (26 October 1994); doi: 10.1117/12.190119
Show Author Affiliations
Rune Volden, Norwegian Institute of Technology (Norway)

Published in SPIE Proceedings Vol. 2258:
Ocean Optics XII
Jules S. Jaffe, Editor(s)

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