Optimum fiducials under weak perspective projection

Author

Bruckstein, Alfred M. ; Holt, Robert J. ; Huang, Thomas S. ; Netravali, Arun N.

Author_Institution

Lucent Technol., Bell Labs., Murray Hill, NJ, USA

Volume

1

fYear

1999

fDate

1999

Firstpage

67

Abstract

We investigate how a given fixed number of points should be located in space so that the pose of a camera viewing them from unknown locations can be estimated with the greatest accuracy. We show that optimum solutions are obtained when the points form concentric complete regular polyhedra. For the case of optimal configurations, we provide a worst-case error analysis and use it to analyze the effects of weak perspective approximation to true perspective viewing. Comprehensive computer simulations validate the theoretical results

Keywords

computational geometry; image sequences; object detection; optimisation; camera view; computer simulations; concentric complete regular polyhedra; optimal configurations; optimum fiducials; optimum solutions; pose estimation; true perspective viewing; unknown locations; weak perspective approximation; weak perspective projection; worst-case error analysis; Application software; Cameras; Computer simulation; Electrical capacitance tomography; Error analysis; Iterative algorithms; Orbital robotics; Robot vision systems; Space technology; Working environment noise;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer Vision, 1999. The Proceedings of the Seventh IEEE International Conference on

Conference_Location

Kerkyra

Print_ISBN

0-7695-0164-8

Type

conf

DOI

10.1109/ICCV.1999.791199

Filename

791199