Recently, mirage pose estimation method was proposed for multi-camera systems. Multi-camera mirage analytically solves a system of linear equations for six pose parameters in O(n) time. Mirage promises to execute in real time with high accuracy and shows lower rotational and translational errors compared to eight other well-known perspective-n-points (PnP) methods. However, the simulated tests and real experiments showed that, in case of a single camera, the analytical system of linear equations is not solvable due to the reduced rank of the linear system that is obtained by the formulation. In this study, an important revision to mirage is proposed to support single camera systems properly. The results of simulations and real experiments demonstrate smaller pose estimation errors compared to a group of eight well-known state-of-the-art PnP methods.

A method is proposed for real-time vision-based localization in the 360°area around a three-dimensional (3D) reference object with a single camera. The problem is split into three subproblems. First, 360°3D object recognition is proposed, in which a computer vision solution can recognize a reference object from all possible 360°locations. Second, 360°pose estimation is presented, in which the pose of a robot at all locations is estimated. Third, a 360°localization application is integrated with a closed-loop real-time trajectory tracking controller. The successful results of simulations and real experiments of trajectory tracking are also presented.This is an open access article under the terms of the Creative Commons Attribution License, which permits use, distribution and reproduction in any medium, provided the original work is properly cited.

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