Monocular pose of a rigid body using point landmarks

Radha Krishnan, Henry Joseph Sommer, III, Peter D. Spidaliere

Research output: Contribution to journalArticle

8 Citations (Scopus)

Abstract

An iterative algorithm has been developed to determine threedimensional camera coordinates for landmarks on a rigid body, using two-dimensional image coordinates of the landmarks from a single camera. The landmarks may be coplanar or noncoplanar. The algorithm has been generalized for any number of landmarks (N ≥ 3). Monte Carlo simulation results of expected target range and attitude errors as related to range, attitude, focal length, number of landmarks and target planarity are presented. In addition, a table comparing results from previous research on pose recovery is also presented with respect to two nondimensional parameters, namely, range-size ratio (RSR) and focal-length-tonoise ratio (FNR). The concepts of RSR and FNR are very valuable in comparing results across different conditions used by different authors.

Original languageEnglish (US)
Pages (from-to)307-316
Number of pages10
JournalCVGIP: Image Understanding
Volume55
Issue number3
DOIs
StatePublished - Jan 1 1992

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range size
Cameras
Recovery
simulation
parameter
Monte Carlo simulation

All Science Journal Classification (ASJC) codes

  • Environmental Science(all)
  • Engineering(all)
  • Earth and Planetary Sciences(all)

Cite this

Krishnan, Radha ; Sommer, III, Henry Joseph ; Spidaliere, Peter D. / Monocular pose of a rigid body using point landmarks. In: CVGIP: Image Understanding. 1992 ; Vol. 55, No. 3. pp. 307-316.
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Monocular pose of a rigid body using point landmarks. / Krishnan, Radha; Sommer, III, Henry Joseph; Spidaliere, Peter D.

In: CVGIP: Image Understanding, Vol. 55, No. 3, 01.01.1992, p. 307-316.

Research output: Contribution to journalArticle

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