Pose-estimation error analysis of the L-shaped line segments for object recognition

Yoshihiko Nomura; Junichi Hirata; Dili Zhang

doi:10.1117/12.360326

26 August 1999 Pose-estimation error analysis of the L-shaped line segments for object recognition

Yoshihiko Nomura, Junichi Hirata, Dili Zhang

Proceedings Volume 3837, Intelligent Robots and Computer Vision XVIII: Algorithms, Techniques, and Active Vision; (1999) https://doi.org/10.1117/12.360326
Event: Photonics East '99, 1999, Boston, MA, United States

Abstract

This paper present a method to reduce the calculation costs of object pose measurements. They are estimated by matching L-shaped line-segments in 3D object models with those in 2D object images using a P3P solution. The L segments have the minimum pieces of information for the estimation, and, therefore, it produces a large amount of L segments both in the 3D object models and in the 2D object images, resulting in enormous correspondences, and P3P calculations. To solve the problem, we propose a strategy enabling to select fewer L segments: as an evaluation function, we utilizes an average of the estimation errors when observing the L segments from representative points on a geodesic dome. Furthermore, we deduce a useful approximate formula for L segments having various shapes.

Citation Download Citation

Yoshihiko Nomura, Junichi Hirata, and Dili Zhang "Pose-estimation error analysis of the L-shaped line segments for object recognition", Proc. SPIE 3837, Intelligent Robots and Computer Vision XVIII: Algorithms, Techniques, and Active Vision, (26 August 1999); https://doi.org/10.1117/12.360326

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