Single view based nonlinear vision pose estimation from coplanar points

Abstract

In this paper, an iterative algorithm is proposed to determine the pose of a planar target. The algorithm relies on the planar target whose size is known, and the pose of the target can be recovered by using coplanar points from only a single image. The iterative optimization algorithm includes two steps: first, the rough pose parameters are calculated by using the least square method based on the 2D-to-3D point correspondences, then, the rough pose is used as the initial guess for the optimal iterative algorithm which minimizes the reprojection errors for coplanar image points to determine the exact pose solution. Moreover, the corresponding image processing algorithm is addressed. The pose determination algorithm includes edge detection, line extraction, pose computing, etc. Simulation results concerning the effectiveness and accuracy of the method are presented; furthermore, experiments carried out on a variable geometry truss robot manipulator with eye-in-hand camera configuration for the autonomous capturing task demonstrate the robustness of the proposed method in the real environments.