A method of determining the pose of spatial plane based on ellipse features

Author

Zhu, Xinglong ; Yang, Xiaojun ; Wei, Xiaobin ; Zhou, Jiping

Author_Institution

Dept. of Mech. Eng., Coll. of Yangzhou Univ., Yangzhou, China

fYear

2009

fDate

9-12 Aug. 2009

Firstpage

257

Lastpage

261

Abstract

When the cylindrical laser lights up the spatial plane, the shape of the laser spot(SLS) is elliptical. The SLS images on the CCD plane by binocular stereo vision are also elliptical. Five independent parameters are obtained according to the principle of least square ellipse. The relationship between spatial plane and elliptical parameters is established. With the use of SWIFT (Sequential Weight Increasing Factor Technique) search algorithm, the pose of spatial plane can be determined without the match of feature points. The numerical results show that the method is effective and feasible.

Keywords

CCD image sensors; feature extraction; lasers; least squares approximations; pose estimation; search problems; stereo image processing; SLS images; SWIFT search algorithm; binocular stereo vision; cylindrical laser; ellipse features; laser spot shape; least square ellipse principle; pose determination; sequential weight increasing factor technique; spatial plane; Cameras; Charge coupled devices; Least squares methods; Manufacturing; Mechatronics; Optical scattering; Optical sensors; Robot vision systems; Sonar; Stereo vision; Binocular stereo vision; Laser spot; Least square ellipse; Plane orientation algorithm;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, 2009. ICMA 2009. International Conference on

Conference_Location

Changchun

Print_ISBN

978-1-4244-2692-8

Electronic_ISBN

978-1-4244-2693-5

Type

conf

DOI

10.1109/ICMA.2009.5246360

Filename

5246360