NDLI: Monocular vision-based iterative pose estimation algorithm from corresponding feature points

Content Provider	SpringerLink
Author	Zhang, ShiJie Cao, XiBin Zhang, Fan He, Liang
Copyright Year	2010
Abstract	To determine the relative pose between an object and a single camera using 2D-to-3D point correspondences, a kind of iterative methods based on inverse projection ray approach is proposed. An iterative algorithm which is divided into depth recovery stage and absolute orientation stage is also proposed. In the first stage, the optimal translation vector is first computed in terms of rotation matrix via least square method, then the depths of the observed points are estimated by projecting the estimated point orthogonally to the inverse projection ray defined by the image point, and finally 3D points are reconstructed using the estimated depths from previous step. In the second stage, the optimal rotation matrix is estimated by applying Umeyama algorithm to fitting of the 3D model points and 3D estimated points. The above two stages are repeated until the result converges. The global convergence of the two-stage iterative algorithm is proven based on the global convergence theorem. Finally, a spacecraft docking application is implemented to test the effectiveness and convergence of the proposed algorithm by mathematical simulation and physical simulation.
Starting Page	1682
Ending Page	1696
Page Count	15
File Format	PDF
ISSN	1674733X
Journal	Science in China Series : Information Sciences
Volume Number	53
Issue Number	8
e-ISSN	18691919
Language	English
Publisher	SP Science China Press
Publisher Date	2010-07-09
Publisher Place	Heidelberg
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	monocular vision feature point relative pose two-stage iterative algorithm global convergence Information Systems and Communication Service
Content Type	Text
Resource Type	Article
Subject	Computer Science

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
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