A novel algorithm for real-time pose determination and its iterative method

We present a new method for determining object pose with respect to the camera by the images of three 3D lines and the geometric constraints of three 3D lines. The object model we use are three non-coplanar lines which intersect at two points. The advantage of this method is its mathematical expression is easy and the expression is easy to solve. As for this method, we introduce a solution method which is based on the geometry and step acceleration method. This solution method avoids the optimization process of complex non-linear equations set so as to assure the real-time characteristic of the system. Especially, we provide a detailed account of the computational aspects and the solution process of this method. At last, the simulation results which demonstrate our method works fast and robust are presented.