Title :
A new closed-form solution for absolute orientation
Author :
Wang, Zhengyan ; Jepson, Allan
Author_Institution :
Dept. of Comput. Sci., Toronto Univ., Ont., Canada
Abstract :
Presents a closed-form solution for the determination of 3D displacement and rotation parameters, given a set of 3D point correspondences. The method applies to the general case of arbitrary displacement and rotation with respect to an arbitrary stationary scene. The approach is based on the linear subspace method, which allows separate linear equations to be extracted for the displacement and rotation. This leads to a simple algorithm, suitable for real-time implementations, for the determination of both the 3D transformation and error estimates for the estimated 3D displacement. Preliminary experimental results with range data are presented
Keywords :
computational geometry; computer vision; real-time systems; 3D displacement parameters; 3D point correspondences; 3D rotation parameters; 3D transformation; absolute orientation; arbitrary stationary scene; closed-form solution; error estimates; linear equations; linear subspace method; range data; real-time implementation; Geometric modeling; Machine vision; Real-time systems;
Conference_Titel :
Computer Vision and Pattern Recognition, 1994. Proceedings CVPR '94., 1994 IEEE Computer Society Conference on
Conference_Location :
Seattle, WA
Print_ISBN :
0-8186-5825-8
DOI :
10.1109/CVPR.1994.323819
