Determining location and orientation of a labelled cylinder using point-pair estimation algorithm

A feasible approach is proposed to determine the 3D location and orientation of a cylinder with a label stuck on it at a known height. The proposed approach uses a rectangle-shaped standard mark composed of two point-pairs for performing monocular image analysis. A monocular image of a labelled cylinder is first taken. Image processing and numerical analysis techniques are then used to select two point-pairs located on the boundary of the visible part of the cylindrical label. According to 3D imaging geometry, the location and orientation of the cylinder relative to the camera are uniquely determined by using 3D vector analysis and simple algebraic computation. Owing to the full linearity of the derivation, this approach can perform at high speed