Monocular Pose Determination from Three Perpendicular Lines
LIU Chang1, 2, 3, 4, ZHU Feng1, 4, OU Jin-Jun1, 4
1.Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016 2.School of Information Science and Engineering,Shenyang Ligong University,Shenyang 110159 3.University of Chinese Academy of Sciences,Beijing 100039 4.Key Laboratory of Opto-Electronic Information Processing,Chinese Academy of Sciences,Shenyang 110016
Abstract:Monocular vision based pose determination is one of the typical problems in computer vision. If an object has three lines which are perpendicular to each other and intersect at two points, the pose parameters between a calibrated camera and the object can be calculated using 2D-3D correspondences of these three lines. A method is presented to find out the closed-form solutions of the problem. It is proved that the pose solution number depends on the location of camera’s optical center from the three lines. If the optical center locates between two planes, the problem has two symmetry solutions. Otherwise, it has a unique solution. The symmetry property of the solutions can be used to distinguish the real one from two possible solutions. Three perpendicular lines are three edge lines of a cuboid and the cuboids exist widely in real world. Therefore, the above results are useful to design or select cooperative targets in real applications using line features.
[1] Fischler M A,Bolles R C.Random Sample Consensus: A Paradigm for Model Fitting with Applications to Image Analysis and Automated Cartography.Communications of the ACM,1981,24(6): 381-395 [2] Zhu Haijiang,Wu Fuchao,Hu Zhanyi.Camera Calibration Based on Two Parallel Line Segments.Acta Automatic Sinica,2005,31(6): 853-864 (in Chinese) (祝海江,吴福朝,胡占义.基于两条平行线段的摄像机标定.自动化学报,2005,31(6): 853-864) [3] Duan Fuqing,Wu Fuchao,Hu Zhanyi.Camera Calibration and 3D Reconstruction Using Parallelism Constraint.Journal of Software,2007,18(6): 1350-1360 (in Chinese) (段福庆,吴福朝,胡占义.基于平行性约束的摄像机标定与3D重构.软件学报,2007,18(6): 1350-1360) [4] Huang T,Netravali A.Motion and Structure from Feature Correspondences: A Review.Proc of the IEEE,1994,82(2): 252-268 [5] Dhome M,Richetin M,Laprseste J,et al.Determination of the Attitude of 3-D Objects from a Single Perspective View.IEEE Trans on Pattern Analysis and Machine Intelligence,1989,11(12): 68-73 [6] Liu Y,Huang T,Faugeras O.Determination of Camera Location from 2-D to 3-D Line and Point Correspondences.IEEE Trans on Pattern Analysis and Machine Intelligence,1990,12(1): 28-37 [7] Chen H.Pose Determination from Line-to-Plane Correspondences: Existence Condition and Closed-Form Solutions.IEEE Trans on Pattern Analysis and Machine Intelligence,1991,13(6): 530-541 [8] Shi Fanhuai,Zhang Xiaoyun,Liu Yuncai.A New Method of Camera Pose Estimation Using 2D-3D Corner Correspondence.Pattern Recognition Letters,2004,25(10): 1155-1163 [9] Ying Xianghua,Zha Hongbin.Camera Pose Determination from a Single View of Parallel Lines // Proc of the IEEE International Conference on Image Processing.Genoa,Italy,2005,III: 1056-1059 [10] van den Heuvel F A.Exterior Orientation using Coplanar Parallel Lines // Proc of the 10th Scandinavian Conference on Image Analysis.Lappeenranta,Finland,1997: 71-78 [11] Sun Fengmei,Wang Weining.Pose Determination from a Single Image of a Single Parallelogram.Acta Automatic Sinica,2006,32(5): 746-752 (in Chinese) (孙凤梅,王卫宁.基于单个平行四边形单幅图像的物体定位.自动化学报,2006,32(5): 746-752) [12] Wang Xiaojian,Pan Shunliang,Qiu Liwei,et al.Analytic Algorithm of Pose Estimation Based on Two Pairs of Parallel Lines.Chinese Journal of Scientific Instrument,2008,29(3): 600-604 (in Chinese) (王晓剑,潘顺良,邱力为,等.基于双平行线特征的位姿估计解析算法.仪器仪表学报,2008,29(3): 600-604) [13] Qin Lijuan.Research on Pose Estimation Method and Robustness Analysis from Line Correspondences.Ph.D Dissertation.Shenyang,China: Chinese Academy of Science.Shenyang Institute of Automation,2007 (in Chinese) (秦丽娟.基于直线的视觉定位方法及鲁棒性研究.博士学位论文.沈阳:中国科学院沈阳自动化研究所,2007) [14] Qin Lijuan,Zhu Feng.A New Method for Pose Estimation from Line Correspondences.Acta Automatic Sinica,2008,34(2): 130-134 [15] Liu Chang,Zhu Feng,Ou Jingjun.Door Shaped Three Lines Based P3L Problem’s Closed-Form Solution.Trans of Shenyang Ligong University,2009,28(4): 11-14 (in Chinese) (刘 昶,朱 枫,欧锦军.基于门形三条直线的P3L问题的闭式解.沈阳理工大学学报,2009,28(4): 11-14)