Determination of the attitude of 3D objects from a single perspective view

Dhome, Michel; Richetin, M.; Lapresté, Jean-Thierry; Rives, G.

doi:10.1109/34.41365

Cited by 391 publications

(220 citation statements)

References 7 publications

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“…The number of PnL algorithms is considerably smaller than the point-based ones. Back in the 90's, closed-form approaches for the minimal case with 3 line correspondences were proposed [5,7], together with theoretical studies about the multiple solutions this problem could have [31]. The DLT was shown to be applicable to line representations in [17], although again, with poorer results than algorithms that explicitly exploited the knowledge of the internal parameters of the camera, like [2], also applied to lines.…”

Section: Related Workmentioning

confidence: 99%

“…Early approaches were focused on solving the problem for the minimal cases with n = {3, 4, 5} [7,11,12,15,19,42]. The proliferation of feature point detectors [16,36] and descriptors [3,26,29,37,40] able to consistently retrieve many feature points per image, brought a series of new PnP algorithms that could efficiently handle arbitrarily large sets of points [9,13,18,24,25,27,30,38,45].…”

Section: Introductionmentioning

confidence: 99%

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Accurate and Linear Time Pose Estimation from Points and Lines

Vakhitov

Funke

Moreno-Noguer

2016

Lecture Notes in Computer Science

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Abstract. The Perspective-n-Point (PnP) problem seeks to estimate the pose of a calibrated camera from n 3D-to-2D point correspondences. There are situations, though, where PnP solutions are prone to fail because feature point correspondences cannot be reliably estimated (e.g. scenes with repetitive patterns or with low texture). In such scenarios, one can still exploit alternative geometric entities, such as lines, yielding the so-called Perspective-n-Line (PnL) algorithms. Unfortunately, existing PnL solutions are not as accurate and efficient as their point-based counterparts. In this paper we propose a novel approach to introduce 3D-to-2D line correspondences into a PnP formulation, allowing to simultaneously process points and lines. For this purpose we introduce an algebraic line error that can be formulated as linear constraints on the line endpoints, even when these are not directly observable. These constraints can then be naturally integrated within the linear formulations of two state-of-the-art point-based algorithms, the OPnP [45] and the EPnP [24], allowing them to indistinctly handle points, lines, or a combination of them. Exhaustive experiments show that the proposed formulation brings remarkable boost in performance compared to only point or only line based solutions, with a negligible computational overhead compared to the original OPnP and EPnP.

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Section: Related Workmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Accurate and Linear Time Pose Estimation from Points and Lines

Vakhitov

Funke

Moreno-Noguer

2016

Lecture Notes in Computer Science

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“…Another important issue is the 2D-3D registration problem. Purely geometric (eg, [10]), or numerical and iterative [7] approaches may be considered. Linear approaches use a least-squares method to estimate the pose and are considered to be more suitable for initialization procedures.…”

Section: State Of the Artmentioning

confidence: 99%

Kinematic sets for real-time robust articulated object tracking

Comport

Marchand

Chaumette

2007

Image and Vision Computing

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In this article a new approach is given for real-time visual tracking of a class of articulated non-rigid objects in 3D. The main contribution of this paper consists in symmetrically modeling the motion and velocity of an articulated object via a novel kinematic set approach. This is likened to a Lagrange-d'Alembert formulation in classical physics. The advantages of this new model over pre-existing methods include improved precision, robustness and efficiency, leading to real-time performance. Furthermore, a general class of mechanical joints can be considered and the method can track objects where previous approaches have failed due to a lack of visual information. In summary, a joint configuration is modeled by using Pfaffian velocity constraints. The configuration and location of a joint is then used to build a general Jacobian Matrix which relates individual rigid body velocities(twists) to an underlying minimal subspace. A closed loop control law is then derived in order to minimize a set of distance errors in the image and estimate the system parameters. The tracking is locally based upon efficient distance criterion. Experimental results show prismatic, rotational and helical type links and up to eight general parameters. A statistical M-estimation technique is applied to improve robustness. A monocular camera system was used as a real-time sensor to verify the theory.

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“…Another important issue is the registration problem. Purely geometric (eg, [4]), or numerical and iterative [3] approaches may be considered. Linear approaches use a least-squares method to estimate the pose.…”

Section: Introductionmentioning

confidence: 99%

Robust stereo tracking for space applications

Dionnet

Marchand

2007

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-This paper proposes a real-time, robust and efficient 3D model-based tracking algorithm for visual servoing. A virtual visual servoing approach is used for 3D tracking. This method is similar to more classical non-linear pose computation techniques. Robustness is obtained by integrating an Mestimator into the virtual visual control law via an iteratively reweighted least squares implementation. The presented approach is also extended to the use of multiple cameras. Results show the method to be robust to occlusion, changes in illumination and miss-tracking.

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Determination of the attitude of 3D objects from a single perspective view

Cited by 391 publications

References 7 publications

Accurate and Linear Time Pose Estimation from Points and Lines

Accurate and Linear Time Pose Estimation from Points and Lines

Kinematic sets for real-time robust articulated object tracking

Robust stereo tracking for space applications

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