一种新的基于直线的定位方法

• Published in: 自动化学报 Vol. 34; no. 2; pp. 130 - 134
• Main Authors: 秦丽娟, 朱枫
• Format: Journal Article
• Language: Chinese
• Published: Graduate University of Chinese Academy of Sciences, Beijing 100080, P.R. China%Graduate University of Chinese Academy of Sciences, Beijing 100080, P.R. China 2008; Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110116, P.R. China
• Subjects: pose estimation; Line correspondences; multi-solution phenomenon; iterative method
• ISSN: 0254-4156
• DOI: 10.3724/SP.J.1004.2008.00130

TP3; We can usually determine the pose of objects from three lines in a general position. The configuration of three noncoplanar lines that intersect at two points has some particular characteristics, which three lines in a general position do not have.Here, we present a new method of determining object pose using this particular line configuration. In theory, this method enriches the pose estimation methods from three line correspondences. In addition, it provides guidance for practical applications. Furthermore,we propose a method to deal with multi-solution phenomenon and a new iterative method. Simulation results demonstrate that our algorithm works speedily and robustly.