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| 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 |
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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.
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Received: 31 August 2011
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2012, Vol. 25 
