Model-based estimation of axisymmetric target´s pose and speed using line-scan camera

A novel method is proposed for estimating the pose (position and attitude) and speed of the axisymmetric target using a line-scan camera. Since the line-scan camera collects image by continuously line scanning, it can record the motion information of the moving object which provides a way to estimate the pose and speed. An optimization algorithm is developed to give an optimal solution by minimizing an energy function which is defined on the matching measure between the projection contours of the target and that of its 3D model. The method is experimentally testified both on synthetic and real images.