Title :
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
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;
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
DOI :
10.1109/ICMA.2009.5246360
