DocumentCode :
3326173
Title :
Object pose: links between paraperspective and perspective
Author :
Horaud, Radu ; Christy, Steéphane ; Dornaika, Fadi ; Lamiroy, Bart
Author_Institution :
INRIA, Grenoble, France
fYear :
1995
fDate :
20-23 Jun 1995
Firstpage :
426
Lastpage :
433
Abstract :
D.F. Dementhon and L.S. Davis (1995) proposed a method for determining the pose of a 3D object with respect to a camera from 3D to 2D point correspondences. The method consists of iteratively improving the pose computed with a weak perspective camera model to converge at the limit, to a pose estimation computed with a perspective camera model. We show that the method of Dementhon and Davis can be extended to paraperspective. The iterative paraperspective pose algorithm that we describe in detail has interesting properties both in terms of speed and rate of convergence. Moreover, we introduce a simple way of taking into account the orthogonality constraint associated with the rotation matrix and we define the optimal experimental setup to be used in the presence of camera calibration errors
Keywords :
cameras; iterative methods; matrix algebra; object recognition; 2D point correspondences; 3D object pose; camera calibration errors; iterative paraperspective pose algorithm; optimal experimental setup; orthogonality constraint; paraperspective; perspective; pose estimation; rotation matrix; weak perspective camera model; Calibration; Cameras; Closed-form solution; Computer vision; Convergence; Minimization methods; Optimization methods; Robustness;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Computer Vision, 1995. Proceedings., Fifth International Conference on
Conference_Location :
Cambridge, MA
Print_ISBN :
0-8186-7042-8
Type :
conf
DOI :
10.1109/ICCV.1995.466908
Filename :
466908
Link To Document :
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