A New Pose Estimation Algorithm Using a Perspective-Ray-Based Scaled Orthographic Projection with Iteration

Pose estimation aims at measuring the position and orientation of a calibrated camera using known image features. The pinhole model is the dominant camera model in this field. However, the imaging precision of this model is not accurate enough for an advanced pose estimation algorithm. In this paper...

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Veröffentlicht in:PloS one Jg. 10; H. 7; S. e0134029
Hauptverfasser: Sun, Pengfei, Sun, Changku, Li, Wenqiang, Wang, Peng
Format: Journal Article
Sprache:Englisch
Veröffentlicht: United States Public Library of Science 21.07.2015
Public Library of Science (PLoS)
Schlagworte:
Accuracy
Aircraft
Algorithms
Augmented reality
Cameras
Degrees of freedom
International conferences
Iterative methods
Laboratories
Orthography
Pose estimation
Position measurement
Projection
Remote Sensing Technology
Signal processing
Unmanned aerial vehicles
ISSN:1932-6203, 1932-6203
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Zusammenfassung:Pose estimation aims at measuring the position and orientation of a calibrated camera using known image features. The pinhole model is the dominant camera model in this field. However, the imaging precision of this model is not accurate enough for an advanced pose estimation algorithm. In this paper, a new camera model, called incident ray tracking model, is introduced. More importantly, an advanced pose estimation algorithm based on the perspective ray in the new camera model, is proposed. The perspective ray, determined by two positioning points, is an abstract mathematical equivalent of the incident ray. In the proposed pose estimation algorithm, called perspective-ray-based scaled orthographic projection with iteration (PRSOI), an approximate ray-based projection is calculated by a linear system and refined by iteration. Experiments on the PRSOI have been conducted, and the results demonstrate that it is of high accuracy in the six degrees of freedom (DOF) motion. And it outperforms three other state-of-the-art algorithms in terms of accuracy during the contrast experiment.
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Conceived and designed the experiments: PS. Performed the experiments: PS PeW. Analyzed the data: WL PW. Contributed reagents/materials/analysis tools: CS. Wrote the paper: PS CS PW.
Competing Interests: The authors have declared that no competing interests exist.
ISSN:1932-6203
1932-6203
DOI:10.1371/journal.pone.0134029