Pose determination of a cylinder using reprojection transformation

Huang, Jen-Bin; Chen, Zen; Chia, Tsorng-Lin

doi:10.1016/0167-8655(96)00061-x

Cited by 16 publications

(18 citation statements)

References 7 publications

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“…The 3-D reconstruction (also called pose estimation) of a cylinder using its projected contour is a problem investigated by several computer vision studies due to its difficulty and numerous applications (Huang et al 1996;Doignon & de Mathelin 2007;Shiu & Huang 1993;Navab & Appel 2006). Huang et al (1996) presented a pose determination method using only the straight line projection of the sides of the cylinder, based on the image from a single camera. Being based on a geometric transformation, it can be implemented directly on the cylinder contour (versus on the images, which is computationally heavier) and runs fast.…”

Section: Resultsmentioning

confidence: 99%

“…Being based on a geometric transformation, it can be implemented directly on the cylinder contour (versus on the images, which is computationally heavier) and runs fast. Consequently, the method of Huang et al (1996) was chosen in the present work to solve the problem of the 3-D reconstruction of the cylinder.…”

Section: Resultsmentioning

confidence: 99%

“…It provides however a first estimation of the distance of the body centre to the camera which is used as an initialization of the refined following step implemented to correct perspective effects. This advanced technique, described in more details in the Appendix, is based on a geometric reprojection of the cylinder contour (Huang, Chen & Chia 1996). It outputs the centre of the two flat faces of the cylinder, denoted S and T, in a frame tied to the camera position.…”

Section: Image and Signal Processingmentioning

confidence: 99%

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Kinematics and wake of freely falling cylinders at moderate Reynolds numbers

2019

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We investigated experimentally the motion of elongated finite-length cylinders (length $L$, diameter $d$) freely falling under the effect of buoyancy in a low-viscosity fluid otherwise at rest. For cylinders with densities $\unicode[STIX]{x1D70C}_{c}$ close to the density $\unicode[STIX]{x1D70C}_{f}$ of the fluid ($\overline{\unicode[STIX]{x1D70C}}=\unicode[STIX]{x1D70C}_{c}/\unicode[STIX]{x1D70C}_{f}\simeq 1.16$), we explored the effect of the body volume by varying the Archimedes number $Ar$ (based on the body equivalent diameter) between 200 and 1100, as well as the effect of their length-to-diameter ratios $L/d$ ranging from 2 to 20. A shadowgraphy technique involving two cameras mounted on a travelling cart was used to track the cylinders along their fall over a distance longer than $30L$. A dedicated image processing algorithm was further implemented to properly reconstruct the position and orientation of the cylinders in the three-dimensional space. In the range of parameters explored, we identified three main types of paths, matching regimes known to exist for three-dimensional bodies (short-length cylinders, disks and spheres). Two of these are stationary, namely, the rectilinear motion and the large-amplitude oscillatory motion (also referred to as fluttering or zigzag motion), and their characterization is the focus of the present paper. Furthermore, in the transitional region between these two regimes, we observed irregular low-amplitude oscillatory motions, that may be assimilated to the A-regimes or quasi-vertical regimes of the literature. Flow visualization using dye released from the bodies uncovered the existence of different types of vortex shedding in the wake of the cylinders, according to the style of path. The detailed analysis of the body kinematics in the fluttering regime brought to light a series of remarkable properties. In particular, when normalized with the characteristic velocity scale $u_{0}=\sqrt{(\overline{\unicode[STIX]{x1D70C}}-1)gd}$ and the characteristic length scale $l_{0}=\sqrt{dL}$, the mean vertical velocity $\overline{u_{Z}}$ and the frequency $f$ of the oscillations become almost independent of $L/d$ and $Ar$. The use of the length scale $l_{0}$ and of the gravitational velocity scale to build the Strouhal number $St^{\ast }=fl_{0}/u_{0}$ allowed us to generalize to short ($0.1\leqslant L/d\leqslant 0.5$) and elongated cylinders ($2\leqslant L/d\leqslant 12$), the result $St^{\ast }\simeq 0.1$. An interpretation of $l_{0}$ as a characteristic length scale associated with the oscillatory recirculation thickness generated near the body ends is proposed. In addition, the rotation rate of the cylinders scales with $u_{0}/L$, for all $L/d$ and $Ar$ investigated. Furthermore, the phase difference between the oscillations of the velocity component $u$ along the cylinder axis and of the inclination angle $\unicode[STIX]{x1D703}$ of the cylinder is approximately constant, whatever the elongation ratio $L/d$ and the Archimedes number $Ar$.

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Section: Resultsmentioning

confidence: 99%

Section: Resultsmentioning

confidence: 99%

Section: Image and Signal Processingmentioning

confidence: 99%

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Kinematics and wake of freely falling cylinders at moderate Reynolds numbers

2019

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“…Puech et al [11] used the image of two cross-sections to locate a straight uniform generalized cylinder in 3-D space and Shiu and Huang [14] solve the problem for a finite and known cylinder height, that is for 5 dof. Huang et al [7] solve the pose determination of a cylinder through a reprojection transformation which may be viewed as a rectification. The computed transformation brings the camera optical axis to perpendicularly intersect the cylinder axis, which is then parallel to one of the two image axes.…”

Section: B Related Workmentioning

confidence: 99%

A Degenerate Conic-Based Method for a Direct Fitting and 3-D Pose of Cylinders with a Single Perspective View

Doignon

Mathelin

2007

Proceedings 2007 IEEE International Conference on Robotics and Automation

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In this paper, we address the problem of the pose recovery of a straight homogeneous circular cylinder (SHCC) from its apparent contour in a single 2-D image. In many real-world situations, one may encounter cylindrical objects especially in man-made structures Object models based on surfaces of revolution, in particular cylinders, are suitable for many fields, like the automatic assembly, the human motion capture and also in medical image-based robotic guidance. To model the geometry of a SHCC, we first introduce a singular matrix which represents this degenerate quadric and we show it can be expressed with the Plücker coordinates of its symmetry axis. We demonstrate that the perspective projection of a SHCC is related to the pose parameters and for this model-based pose estimation problem, we present a degenerate conic-based fitting method which has some connections with the estimation of the Fundamental matrix. We provide a closed-form solution for the pose determination (4 dof). Compared to earlier works in this field, the proposed approach exhibits some geometric properties of SHCCs, it can deal with partial occlusions of apparent contours and it provides an efficient direct pose solution for the symmetry axis. Simulated data and real images are used to validate the fitting and pose computation. Finally, to highlight the effectiveness of the proposed method to deal with apparent contours in a poor structured environment, we apply this work to the localization of instruments used in laparoscopic surgery.

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“…However, ellipse fitting generally becomes inaccurate when the cylinder radius is small with respect to the cylinder height and also since both circles on the cylinder are not completely visible. Huang et al (Huang, 1996) solve the pose determination of a cylinder through a reprojection transformation which may be thought as a rectification transformation. The computed transformation is applied to the image of the cylinder and brings the camera optical axis to perpendicularly intersect the cylinder axis, which is then parallel to one of the two image axes.…”

Section: Pose Estimation From Cylindersmentioning

confidence: 99%

An Introduction to Model-Based Pose Estimation and 3-D Tracking Techniques

Doignon¹

2007

Scene Reconstruction Pose Estimation and Tracking

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The aim of this chapter is to present a general overview of the feature-based 3-D pose estimation and tracking techniques. Principles, classical techniques and recent advances are presented and discussed in the context of a monocular camera. The objective is to focus on techniques employed within both the visual servoing and registration fields for the wideclass of rigid objects. The main assumption to this problem rely on the availability of a 3-D model of the object to track. Introduction: Model-based tracking and pose estimationThe recovery of the 3-D geometric information from 2-D images is a fundamental problem in computer vision. When only one view is available, the appearance or the relative arrangement of the object features of interest should be modelled in a symbolic description so as to be compared with the image descriptors thanks to a similarity criterion. Geometricbased approaches restrict the search for correspondence to a sparse set of geometrical features. They use numerical and symbolic properties of entities available. To automatically compute a rigid-body transformation (the pose), it is necessary to match a 3-D model features with part of the visible 2-D image features, a process referred to as the correspondence problem, and for the past four decades, the model-based pose estimation of objects with a simple geometry has been intensively studied. The major goal is tracking at camera frame rate the pose parameters in the world space. Therefore, features such as points, lines, ellipses are not only extracted from 2-D images, but the 3-D model and the pose of the object has to be also exploited. Related work on model-based 3-D trackingThe modelbased 3-D tracking is closely related to the pose estimation problem. It can cope with abrupt motions and it is generally more efficient to deal with partial occlusions of the object of interest than 2-D tracking. However, it needs the correspondence problem to be solve at least once. The definition of object tracking algorithms in image sequences is an important issue for research and applications related to robot vision. A robust extraction and realtime spatiotemporal tracking of measurements is one of the keys to a successful visual servoingbased tracking, in particular for positionbased visual servoing approaches 360(PBVS) (Hutchinson, 1996), where the tracking error is computed in the task space and thereafter used by the robot control system. The reference work on visionbased navigation is the dynamic tracking approach introduced by Dickmanns and Graefe (Dickmanns, 1988). In this work, the steering of cars, vehicle docking and aircraft landing are performed by dynamic modelling and edge feature extraction and processing. Feature extraction and matching play an important role, and restriction of matching is commonly done by windowing technique. Harris and Stennet (Harris, 1990), Papanikolopoulos et al. (Papanikolopoulos, 1993) and Hager and Toyama (Hager, 1998) with the XVision system restrict the search space of matching to a neighbourhood of th...

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Pose determination of a cylinder using reprojection transformation

Cited by 16 publications

References 7 publications

Kinematics and wake of freely falling cylinders at moderate Reynolds numbers

Kinematics and wake of freely falling cylinders at moderate Reynolds numbers

A Degenerate Conic-Based Method for a Direct Fitting and 3-D Pose of Cylinders with a Single Perspective View

An Introduction to Model-Based Pose Estimation and 3-D Tracking Techniques

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