A vision-based method for the circle pose determination with a direct geometric interpretation

Chen, Zen; Huang, Jen-Bin

doi:10.1109/70.817678

Cited by 35 publications

(10 citation statements)

References 6 publications

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“…Similarly, in the right camera coordinate system, the optical center coordinates of the right camera are denoted as G r (0, 0, 0) T and an arbitrary point m r (u cr , v cr ) T on the circle in the right image as mr (u cr , v cr , f r ) T , where f r is the focal length of the right camera. We extend the projection relation between the single image and the circular target constructed by Chen [19] to the binocular vision system. Consider the case of two cameras, as shown in figure 2.…”

Section: Normal Vector Estimation Of Circular Planementioning

confidence: 99%

“…Kanatani et al [18] presented a theory of computation involving conics, and described an analytical procedure with which to compute a circle pose. Chen et al [19] proposed a 3D geometric method to find the corresponding relation between points on the image and points on the actual circle, which was based on two particular projected chords of a circle image. Zheng et al [20] developed a projective equation of a circle, based on which a closed form solution is developed to estimate a circle pose.…”

Section: Introductionmentioning

confidence: 99%

“…Zheng et al [20] developed a projective equation of a circle, based on which a closed form solution is developed to estimate a circle pose. There are duality problems in these classical methods of circle pose estimation [17][18][19][20]. Unfortunately, these researchers did not provide a program to eliminate false solutions.…”

Section: Introductionmentioning

confidence: 99%

“…Zheng and Liu [34] presented a closed-form solution for the pose estimation of a circle, of a known radius, based on binocular stereo vision. Based on the research work of Chen [19] and Xu et al [35], they solved the orientation duality problem and calculated the unknown radius of the circle. This method estimates the circle pose from left and right images separately.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Precise pose and radius estimation of circular target based on binocular vision

Liu¹,

Liu²,

Duan³

et al. 2019

Meas. Sci. Technol.

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A novel method of estimating circle pose and radius is proposed, based on binocular vision. This method uses the special vectors that are irrelevant to the unknown radius to calculate the normal vector of the circular plane, which is the foundation for calculating the vanishing line of the circular plane in the imaging plane. The projections of the circle center on the left and right image are calculated afterwards through the vanishing line. Then, the circle center is reconstructed by the triangulation technology of binocular stereo vision. Finally, the radius of the circular target is calculated through the relative positions of points in the same coordinate system. The estimates of normal vector, center position, and radius size are unique and definite, so there is no need for a subsequent screening process. When the radius is unknown, most of the conventional circle pose estimation methods are unusable. However, the proposed method has no prerequisites about the circular target in order to estimate the pose and radius of the circular target, which improves flexibility and extends the application field. Besides estimating the pose of a circular target of unknown radius, the proposed method can also be applied to the vision measurement of the radius of a circular object. Both actual measurement experiments and noise simulation experiments are performed. The results show that the proposed method is more precise and robust than conventional methods.

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Section: Normal Vector Estimation Of Circular Planementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Precise pose and radius estimation of circular target based on binocular vision

Liu¹,

Liu²,

Duan³

et al. 2019

Meas. Sci. Technol.

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show abstract

“…In [7], a low-cost solution based on a monocular camera was implemented for the autonomous takeoff, hovering, and landing of a MAV. By using projective geometry [8,9,10], the 6 degrees of freedom (DOF) pose of the quadrotor relative to a typical landing pad (the letter “H” surrounded by a circle) could be accurately estimated from image streams. In [11], a complete ship deck simulation for the autonomous landing of a helicopter on ships was proposed by using a single downward-looking camera and a moving platform with helipad marks.…”

Section: Introductionmentioning

confidence: 99%

An Onboard Vision-Based System for Autonomous Landing of a Low-Cost Quadrotor on a Novel Landing Pad

Liu

Zhang

Tian

et al. 2019

Sensors

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In this paper, an onboard vision-based system for the autonomous landing of a low-cost quadrotor is presented. A novel landing pad with different optical markers sizes is carefully designed to be robustly recognized at different distances. To provide reliable pose information in a GPS (Global Positioning System)-denied environment, a vision algorithm for real-time landing pad recognition and pose estimation is implemented. The dynamic model of the quadrotor is established and a system scheme for autonomous landing control is presented. A series of autonomous flights have been successfully performed, and a video of the experiment is available online. The efficiency and accuracy of the presented vision-based system is demonstrated by using its position and attitude estimates as control inputs for the autonomous landing of a self-customized quadrotor.

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Pose Measurement of Drogue via Monocular Vision for Autonomous Aerial Refueling

Yin

et al. 2017

Communications in Computer and Information Science

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A vision-based method for the circle pose determination with a direct geometric interpretation

Cited by 35 publications

References 6 publications

Precise pose and radius estimation of circular target based on binocular vision

Precise pose and radius estimation of circular target based on binocular vision

An Onboard Vision-Based System for Autonomous Landing of a Low-Cost Quadrotor on a Novel Landing Pad

Pose Measurement of Drogue via Monocular Vision for Autonomous Aerial Refueling

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