Least squares pose estimation of cylinder axes from multiple views using contour line features

M. Becke, T. Schlegl
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引用次数: 5

Abstract

In this paper, a new method for a minimum-error pose estimation of cylinder axes based on apparent contour line features from multiple views is presented. Novel model equations for both single and particularly multiple views are derived, and based upon these, an iterative algorithm for least squares fitting the model to imaged cylinder contour line features is introduced. The good performance and fast convergence of the proposed algorithm is shown by solving exemplary fitting problems.
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基于轮廓线特征的多视角圆柱轴最小二乘位姿估计
提出了一种基于多视角视轮廓线特征的圆柱轴位姿最小误差估计方法。在此基础上,提出了一种最小二乘迭代算法,将模型拟合成像柱面轮廓线特征。通过对典型拟合问题的求解,证明了该算法的良好性能和快速收敛性。
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