Robust orthogonal iterative monocular pose estimation algorithm based on point features

Ke Liu; Ling Wang; Hanhan Liu; Xiang Zhang

doi:10.1117/12.2631915

14 April 2022 Robust orthogonal iterative monocular pose estimation algorithm based on point features

Ke Liu, Ling Wang, Hanhan Liu, Xiang Zhang

Proceedings Volume 12178, International Conference on Signal Processing and Communication Technology (SPCT 2021); 121781P (2022) https://doi.org/10.1117/12.2631915
Event: International Conference on Signal Processing and Communication Technology (SPCT 2021), 2021, Tianjin, China

Abstract

Monocular pose estimation is a basic element in computer vision, and monocular pose estimation based on point features, as one of the important branches of monocular pose estimation, is widely used in many fields such as robot positioning, virtual reality, and image precision measurement. When solving the monocular pose based on point features, the number of point features and image noise has a great influence on the estimation accuracy. Therefore, this paper proposes a robust orthogonal iterative pose measurement algorithm that introduces an intermediate coordinate system between the camera coordinate system and the world coordinate system to optimize estimation constraints. Then, the method that uses the least square method to solve the error problem is applied to solving the distance between the characteristic point and the camera's optical center. Moreover, the calculation of the initial value of the camera pose is simplified through the intermediate coordinate system. Finally, the camera pose is optimized by orthogonal iteration. Experiments show that, compared with existing algorithms, the algorithm proposed in this paper is more robust to the number of point features and image noise, and the overall solution accuracy is better.

Citation Download Citation

Ke Liu, Ling Wang, Hanhan Liu, and Xiang Zhang "Robust orthogonal iterative monocular pose estimation algorithm based on point features", Proc. SPIE 12178, International Conference on Signal Processing and Communication Technology (SPCT 2021), 121781P (14 April 2022); https://doi.org/10.1117/12.2631915

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available

Members: $17.00

Non-members: $21.00 ADD TO CART

PROCEEDINGS
10 PAGES

DOWNLOAD PAPER SAVE TO MY LIBRARY

GET CITATION

RIGHTS & PERMISSIONS

Get copyright permission Get copyright permission on Copyright Marketplace

KEYWORDS

Cameras

Imaging systems

Error analysis

Curium

Chromium

Iterative methods

Aerospace engineering

Show All Keywords

Keywords/Phrases

Search In:

Publication Years