Fast and globally convergent pose estimation from video images

IEEE Transactions on Pattern Analysis and Machine Intelligence

Volumn 22, Issue 6, 2000, Pages 610-622

  Lu, Chien Ping ^a,b   Hager, Gregory D ^a   Mjolsness, Eric ^a  

^a Ibeam Broadcasting Corp   (United States)

^b Johns Hopkins University   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; CAMERAS; COMPUTATIONAL COMPLEXITY; COMPUTATIONAL GEOMETRY; CONVERGENCE OF NUMERICAL METHODS; DATA STRUCTURES; IMAGE ANALYSIS; IMAGE QUALITY; ITERATIVE METHODS; OPTIMIZATION;

ORTHOGONAL ROTATION MATRICES; WEAK-PERSPECTIVE CAMERA MODELS;

COMPUTER VISION;

EID: 0034204705     PISSN: 01628828     EISSN: None     Source Type: Journal    
DOI: 10.1109/34.862199     Document Type: Article

References (46)

1. W. Wilson, "Visual Servo Control of Robots Using Kaiman Filter Estimates of Robot Pose Relative to Work-Pieces," Visual Servoing, K. Hashimoto, éd., pp. 71-104, World Scientific, 1994.
2. W.E.L. Crimson et al., "An Automatic Registration Method for Frameless Stereotaxy, Image Guided Surgery, and Enhanced Reality Visualization," Proc. IEEE Conf. Computer Vision and Pattern Recognition, pp. 430-436, 1994.
3. A. State, G. Hirota, D. Chen, W. Garrett, and M. Livingston, "Superior Augmented Reality Registration by Integrating Landmark Tracking and Magnetic Tracking," Proc. ACM SIGGRAPH, pp. 429-438, 1996.
4. R. Azuma and G. Bishop, "Improving Static and Dynamic Registration in an Optical See-Through HMD," Proc. SIGGRAPH, pp. 197-204, 1994.
5. M. Bajura, H. Fuchs, and R. Ohbuchi, "Merging Virtual Objects with the Real World: Seeing Ultrasound Imagery within the Patient," Proc. SIGGRAPH, pp. 203-210, July 1992.
6. W.E.L. Crimson, Object Recognition by Computer. Cambridge, Mass.: MIT Press, 1990.
7. S. Ganapathy, "Decomposition of Transformation Matrices for Robot Vision," Pattern Recognition Letters, pp. 401-412, 1989.
8. M. Fischler and R.C. Bolles, "Random Sample Consensus: A Paradigm for Model Fitting and Automatic Cartography," Comm. ACM, no. 6, pp. 381-395, 1981.
9. R. Horaud, B. Canio, and O. Leboullenx, "An Analytic Solution for the Perspective 4-Point Problem," Computer Vision, Graphics, and Image Processing, no. 1, pp. 33-44, 1989.
10. R.M. Haralick, C. Lee, K. Ottenberg, and M. Nolle, "Analysis and Solutions of the Three Point Perspective Pose Estimation Problem," Proc. IEEE Conf. Computer Vision and Pattern Recognition, pp. 592-598, 1991.
11. D. DeMenthon and L.S. Davis, "Exact and Approximate Solutions of the Perspective-Three-Point Problem," IEEE Trans. Pattern Analysis and Machine Intelligence, vol. 14, no. 11, pp. 1,100-1,105, Nov. 1992.
12. M. Dhome, M. Richetin, J. Lapresté, and G. Rives, "Determination of the Attitude of 3D Objects from a Single Perspective View," IEEE Trans. Pattern Analysis and Machine Intelligence, vol. 11, no. 12, pp. 1,265-1,278, Dec. 1989.
13. G.H. Rosenfield, "The Problem of Exterior Orientation in Photogrammetry," Photogrammetric Eng., pp. 536-553, 1959.
14. E.H. Tompson, "The Projective Theory of Relative Orientation," Photogrammetria, pp. 67-75, 1968.
15. R.M. Haralick and L.G. Shapiro, Computer and Robot Vision. Reading, Mass.: Addison-Wesley, 1993.
16. D.G. Lowe, "Three-Dimensional Object Recognition from Single Two-Dimensional Image," Artificial Intelligence, vol. 31, pp. 355-395, 1987.
17. H. Araujo, R. Carceroni, and C. Brown, "A Fully Projective Formulation for Lowe's Tracking Algorithm," Technical Report 641, Univ. of Rochester, 1996
18. Y.I. Abdel-Aziz and H.M. Karara, "Direct Linear Transformation into Object Space Coordinates in Close-Range Photogrammetry," Proc. Symp. Close-Range Photogrammetry, pp. 1-18, Jan. 1971.
19. Y. Yakimovsky and R. Cunningham, "A System for Extracting Three-Dimensional Measurements from a Stereo Pair of TV Cameras," Computer Graphics and Image Processing, vol. 7, pp. 195-210, 1978.
20. O.D. Faugeras and G. Toscani, "Calibration Problem for Stereo," Proc. IEEE Conf. Computer Vision and Pattern Recognition, pp. 15-20, June 1986.
21. R.Y. Tsai, "An Effecient and Accurate Camera Calibration Technique for 3D Machine Vision," Proc. IEEE Conf. Computer Vision and Pattern Recognition, pp. 364-374, 1986.
22. R.K. Lenz and R.Y. Tsai, "Techniques for Calibration of the Scale Factor and Image Center for High Accuracy 3D Machine Vision Metrology," IEEE Trans. Pattern Analysis and Machine Intelligence, vol. 10, no. 3, pp. 713-720, Mar. 1988.
23. D. DeMenthon and L. Davis, "Model-Based Object Pose in 25 Lines of Code," Int'l J. Computer Vision, vol. 15, pp. 123-141, June 1995.
24. T.D. Alter, "3D Pose from Corresponding Points under Weak-Perspective Projection," Techical Report A.I. Memo No. 1,378, MIT Artificial Intelligence Lab., 1992.
25. D.P. Huttenlocher and S. Ullman, "Recognizing Solid Objects by Alignment with an Image," Int'l J. Computer Vision, vol. 5, no. 2, pp. 195-212, 1990.
26. R. Horaud, S. Christy, and F. Dornaika, "Object Pose: The Link between Weak Perspective, Para Perspective and Full Perspec-tive," Techical Report RR-2356, INRIA, Sept. 1994.
27. B.K.P. Horn, H.M. Hilden, and S. Negahdaripour, "Closed-Form Solution of Absolute Orientation Using Orthonomal Matrices," J. Optical Soc. Am., vol. 5, pp. 1,127-1,135, 1988.
28. R.M. Harlalick et al., "Pose Estimation from Corresponding Point Data," IEEE Trans. Systems, Man, and Cybernetics, vol. 19, no. 6, pp. 1,426-1,446, 1989.
29. R.M. Haralick and L.G. Shapiro, Computer and Robot Vision, chapter 14, p. 132. Reading, Mass.: Addison-Wesley, 1993.
30. D.G. Lowe, "Fitting Parametrized Three-Dimensional Models to Images," IEEE Trans. Pattern Analysis and Machine Intelligence, vol. 13, no. 5, pp. 441-450, May 1991.
31. J. Weng, N. Ahuja, and T.S. Huang, "Optimal Motion and Structure Estimation," IEEE Trans. Pattern Analysis and Machine Intelligence, vol. 15, no. 9, pp. 864-884, Sept. 1993.
32. G.D. Hager, "Real-Time Feature Tracking and Projective Invariance as a Basis for Hand-Eye Coordination," Proc. IEEE Conf. Computer Vision and Pattern Recognition, pp. 533-539, IEEE CS Press, 1994.
33. S. Wijesoma, D. Wolfe, and R. Richards, "Eye-to-Hand Coordina-tion for Vision-Guided Robot Control Applications," Int'l J. Robotics Research, vol. 12, no. 1, pp. 65-78, 1993.
34. Robust Vision for Vision-Based Control of Motion. M. Vincze and G. Hager eds., 1999
35. O. Faugeras, Three-Dimensional Computer Vision. MIT Press, 1993.
36. B.K.P. Horn, "Closed-Form Solution of Absolute Orientation Uusing Unit Quaternion," J. Optical Soc. Am., vol. 4, pp. 629-642, 1987.
37. M.W. Walker, L. Shao, and R.A. Volz, "Estimating 3D Location Parameters Using Dual Number Quaternions," CVGIP: Image Understanding, vol. 54, no. 3, pp. 358-367, 1991.
38. K.S. Arun, T.S. Huang, and S.D. Blostein, "Least-Squares Fitting of Two 3D Point Sets," IEEE Trans. Pattern Analysis and Machine Intelligence, vol. 9, pp. 698-700, 1987.
39. D.G. Luenberger, Linear and Nonlinear Programming, second ed. Reading, Mass.: Addison Wesley, 1984.
40. H.P. Moravec, "Obstacle Avoidance and Navigation in the Real World by a Seeing Robot Rover," PhD thesis, Stanford Univ., 1980.
41. S.M. Kiang, R.J. Chou, and J.K. Aggarwal, "Triangulation Errors in Stereo Algorithms," Proc. IEEE Workshop Computer Vision, pp. 72-78, 1987.
42. D. Kirk, Graphics Gems III, pp. 124-132. Academic Press, 1992.
43. T.S. Huang and A.N. Netravali, "Motion and Structure from Feature Correspondences: A Review," IEEE Proc., vol. 82, no. 2, pp. 252-268, 1994.
44. R.H. Byrd and D.A. Pyne, "Convergence of the Iteratively Reweighted Least-Squares Algorithm for Robust Regression," Technical Report No. 313, Dept. of Math. Science, The Johns Hopkins Univ., 1992.
45. G.D. Hager and K. Toyama, "XVision: A Portable Substrate for Real-Time Vision Applications," Computer Vision and Image Understanding, vol. 69, no. 1, Jan. 1998.
46. C.-P. Lu, "Online Pose Estimation and Model Matching," PhD thesis, Yale Univ., 1995.