This paper present a method to reduce the calculation costs of object pose measurements. They are estimated by matching L-shaped line-segments in 3D object models with those in 2D object images using a P3P solution. The L segments have the minimum pieces of information for the estimation, and, therefore, it produces a large amount of L segments both in the 3D object models and in the 2D object images, resulting in enormous correspondences, and P3P calculations. To solve the problem, we propose a strategy enabling to select fewer L segments: as an evaluation function, we utilizes an average of the estimation errors when observing the L segments from representative points on a geodesic dome. Furthermore, we deduce a useful approximate formula for L segments having various shapes.

Date Published: 26 August 1999
PDF: 5 pages
Proc. SPIE 3837, Intelligent Robots and Computer Vision XVIII: Algorithms, Techniques, and Active Vision, (26 August 1999); doi: 10.1117/12.360326

Published in SPIE Proceedings Vol. 3837:
Intelligent Robots and Computer Vision XVIII: Algorithms, Techniques, and Active Vision
David P. Casasent, Editor(s)