Pose determination of a cylinder using reprojection transformation
Pose determination of a cylinder using reprojection transformation
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DOI：
10.1016/0167-8655(96)00061-x
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发表时间：
1996-09-02
影响因子：
5.1
通讯作者：
Chia, TL
中科院分区：
文献类型：
--
作者：
Huang, JB;Chen, Z;Chia, TL
从圆柱体图像中提取有用且鲁棒的特征点用于3D姿态确定是相对困难的任务，因为圆柱体上没有特征点或特征线。在这项研究中，一个关键向量从圆柱图像被发现产生一个变换。然后使用变换从原始图像“重新投影”圆柱体以获得新图像。新的图像揭示了一些重要的功能，能够确定的3D气缸的位置鲁棒。所提出的方法可以产生一个精确的和分析的解决方案，而不需要使用任何特殊的标记，额外的设备或假设。另外，通过该方法可以解决由于视角而导致圆柱体上的两个圆不完全可见的问题。最后，实验结果验证了理论和显示我们的方法的鲁棒性。
Extracting useful and robust feature points from a cylinder image for 3D pose determination is a relatively difficult task, since there are no feature points or lines on the cylinder. In this study, a key vector from a cylinder image is found to yield a transformation. The cylinder is then ''reprojected'' from the original image to obtain a new image using the transformation. The new image reveals some important features capable of determining the 3D cylinder position robustly. The proposed method can yield an exact and analytical solution without the requirement of using any special marks, extra equipment or assumptions. Additionally, a problem in which both circles on the cylinder are not completely visible due to the viewing angle can be resolved by this method. Finally, experimental results are provided to verify the theory and show the robustness of our method.