Title :
New Pose-Detection Method for Self-Calibrated Cameras Based on Parallel Lines and Its Application in Visual Control System
Author :
De Xu ; Li, You Fu ; Shen, Yang ; Tan, Min
Author_Institution :
Dept. of Manuf. Eng. & Eng. Manage., Hong Kong Univ.
Abstract :
In this paper, a new method is proposed to detect the pose of an object with two cameras. First, the intrinsic parameters of the cameras are self-calibrated with two pairs of parallel lines that are orthogonal. Then, the poses of the cameras relative to the parallel lines are deduced, and the rotational transformation between the two cameras is calculated. With the intrinsic parameters and the relative pose of the two cameras, a method is proposed to obtain the poses of a line, plane, and rigid object. Furthermore, a new visual-control method is developed using a pose detection rather than a three-dimensional reconstruction. Experiments are conducted to verify the effectiveness of the proposed method
Keywords :
image motion analysis; image reconstruction; position control; robot vision; hand-eye system; object pose-detection method; orthogonal parallel lines; self-calibrated cameras; three-dimensional reconstruction; visual control system application; Cameras; Control systems; Design automation; Image reconstruction; Intelligent manufacturing systems; Laboratories; Manufacturing automation; Research and development; Research and development management; Visual servoing; Camera self-calibration; hand–eye system; pose detection; ratio invariance; visual control;
Journal_Title :
Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on
DOI :
10.1109/TSMCB.2006.874134
