基于几何约束的直线实时定位新方法

Novel algorithm for real-time pose estimation from line correspondences based on geometric constraints

本文介绍了一种利用空间三条直线的图像信息和三条直线间的几何位置约束关系来确定物体姿态的新方法。使用的物体模型为在空间交于两点的三条非共面直线。这种方法的好处是数学表达式简单,易于求解。本文详细叙述了这种方法的具体实现过程。仿真实验表明,这种方法具有较高的定位精度和良好的实时性。

A new method for determining object pose with respect to the camera by the images of three 3D lines and the geometric constraints of three 3D lines is presented. The object model we use are three non-coplanar lines which intersect at two points. The advantage of this method is that its mathematical expression is easy and the expression is easy to solve. Especially, we provided a detailed account of the computational aspects of this algorithm. At last, the simulation results which demonstrate our method works fast and robust are presented.