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Chinese Optics Letters

Chinese Optics Letters

| PUBLISHED MONTHLY BY CHINESE LASER PRESS AND DISTRIBUTED BY OSA

  • Vol. 9, Iss. 8 — Aug. 10, 2011
  • pp: 081501–081501

Pose measurement method based on geometrical constraints

Zimiao Zhang, Changku Sun, Pengfei Sun, and Peng Wang  »View Author Affiliations


Chinese Optics Letters, Vol. 9, Issue 8, pp. 081501-081501 (2011)


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Abstract

The pose estimation method based on geometric constraints is studied. The coordinates of the five feature points in the camera coordinate system are calculated to obtain the pose of an object on the basis of the geometric constraints formed by the connective lines of the feature points and the coordinates of the feature points on the CCD image plane; during the solution process, the scaling and orthography projection model is used to approximate the perspective projection model. The initial values of the coordinates of the five feature points in the camera coordinate system are obtained to ensure the accuracy and convergence rate of the non-linear algorithm. In accordance with the perspective projection characteristics of the circular feature landmarks, we propose an approach that enables the iterative acquisition of accurate target poses through the correction of the perspective projection coordinates of the circular feature landmark centers. Experimental results show that the translation positioning accuracy reaches ±0.05 mm in the measurement range of 0-40 mm, and the rotation positioning accuracy reaches ±0.06o in the measurement range of 4o-60o.

© 2011 Chinese Optics Letters

OCIS Codes
(330.4060) Vision, color, and visual optics : Vision modeling
(150.0155) Machine vision : Machine vision optics

Citation
Zimiao Zhang, Changku Sun, Pengfei Sun, and Peng Wang, "Pose measurement method based on geometrical constraints," Chin. Opt. Lett. 9, 081501-081501 (2011)
http://www.opticsinfobase.org/col/abstract.cfm?URI=col-9-8-081501

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