Pose estimation with correspondences determination

Hang Dong; Changku Sun; Ruizhe Zhu; Peng Wang

doi:10.1117/12.2287303

12 January 2018 Pose estimation with correspondences determination

Hang Dong, Changku Sun, Ruizhe Zhu, Peng Wang

Proceedings Volume 10621, 2017 International Conference on Optical Instruments and Technology: Optoelectronic Measurement Technology and Systems; 106210V (2018) https://doi.org/10.1117/12.2287303
Event: International Conference on Optical Instruments and Technology 2017, 2017, Beijing, China

Abstract

Pose estimation by monocular is finding the pose of the object by a single image of feature points on the object, which must meet the requirements of detecting all the feature points and matching them in the image. But it will be difficult to obtain the correct pose if part of the feature points are occluded when the object moving a large scale. We proposed a method for finding the pose on the condition that the correspondences between the object points and the image points are unknown. The method combines two algorithms: one algorithm is SoftAssign, which constructs a weight matrix of feature points and image points, and determines the correspondences by iteration loop processing; the other algorithm is OI(orthogonal iteration), which derives an iterative algorithm which directly computes orthogonal and globally convergent rotation matrices.We nest the two algorithms into one iteration loop.An appropriate pose will be chosen from a set of reference poses as the initial pose of object at the beginning of the loop, then we process the weight matrix to confirm the correspondences and calculate the optimal solution of rotation matrices alternately until the object space collinearity error is less than the threshold, each estimation will be closer to the truth pose than the last one through every iteration loop. Experimentally, the method proved to be efficient and have a high precision pose estimation of 3D object with large-scale motion.

Citation Download Citation

Hang Dong, Changku Sun, Ruizhe Zhu, and Peng Wang "Pose estimation with correspondences determination", Proc. SPIE 10621, 2017 International Conference on Optical Instruments and Technology: Optoelectronic Measurement Technology and Systems, 106210V (12 January 2018); https://doi.org/10.1117/12.2287303

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KEYWORDS

Computing systems

Imaging systems

Cameras

Image processing

3D image processing

Algorithm development

Calibration

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