Monocular pose of a rigid body using point landmarks

✍ Scribed by Radha Krishnan; H.J. Sommer III; Peter D. Spidaliere

• Book ID: 103997039
• Publisher: Elsevier Science
• Year: 1992
• Weight: 912 KB
• Volume: 55
• Category: Article
• ISSN: 1049-9660
• DOI: 10.1016/1049-9660(92)90028-2

✦ Synopsis

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 2 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.