Cargando…
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...
Autores principales: | , , , |
---|---|
Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
Public Library of Science
2015
|
Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4509906/ https://www.ncbi.nlm.nih.gov/pubmed/26197272 http://dx.doi.org/10.1371/journal.pone.0134029 |
_version_ | 1782382094703394816 |
---|---|
author | Sun, Pengfei Sun, Changku Li, Wenqiang Wang, Peng |
author_facet | Sun, Pengfei Sun, Changku Li, Wenqiang Wang, Peng |
author_sort | Sun, Pengfei |
collection | PubMed |
description | 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. |
format | Online Article Text |
id | pubmed-4509906 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2015 |
publisher | Public Library of Science |
record_format | MEDLINE/PubMed |
spelling | pubmed-45099062015-07-24 A New Pose Estimation Algorithm Using a Perspective-Ray-Based Scaled Orthographic Projection with Iteration Sun, Pengfei Sun, Changku Li, Wenqiang Wang, Peng PLoS One Research Article 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. Public Library of Science 2015-07-21 /pmc/articles/PMC4509906/ /pubmed/26197272 http://dx.doi.org/10.1371/journal.pone.0134029 Text en © 2015 Sun et al http://creativecommons.org/licenses/by/4.0/ This is an open-access article distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are properly credited. |
spellingShingle | Research Article Sun, Pengfei Sun, Changku Li, Wenqiang Wang, Peng A New Pose Estimation Algorithm Using a Perspective-Ray-Based Scaled Orthographic Projection with Iteration |
title | A New Pose Estimation Algorithm Using a Perspective-Ray-Based Scaled Orthographic Projection with Iteration |
title_full | A New Pose Estimation Algorithm Using a Perspective-Ray-Based Scaled Orthographic Projection with Iteration |
title_fullStr | A New Pose Estimation Algorithm Using a Perspective-Ray-Based Scaled Orthographic Projection with Iteration |
title_full_unstemmed | A New Pose Estimation Algorithm Using a Perspective-Ray-Based Scaled Orthographic Projection with Iteration |
title_short | A New Pose Estimation Algorithm Using a Perspective-Ray-Based Scaled Orthographic Projection with Iteration |
title_sort | new pose estimation algorithm using a perspective-ray-based scaled orthographic projection with iteration |
topic | Research Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4509906/ https://www.ncbi.nlm.nih.gov/pubmed/26197272 http://dx.doi.org/10.1371/journal.pone.0134029 |
work_keys_str_mv | AT sunpengfei anewposeestimationalgorithmusingaperspectiveraybasedscaledorthographicprojectionwithiteration AT sunchangku anewposeestimationalgorithmusingaperspectiveraybasedscaledorthographicprojectionwithiteration AT liwenqiang anewposeestimationalgorithmusingaperspectiveraybasedscaledorthographicprojectionwithiteration AT wangpeng anewposeestimationalgorithmusingaperspectiveraybasedscaledorthographicprojectionwithiteration AT sunpengfei newposeestimationalgorithmusingaperspectiveraybasedscaledorthographicprojectionwithiteration AT sunchangku newposeestimationalgorithmusingaperspectiveraybasedscaledorthographicprojectionwithiteration AT liwenqiang newposeestimationalgorithmusingaperspectiveraybasedscaledorthographicprojectionwithiteration AT wangpeng newposeestimationalgorithmusingaperspectiveraybasedscaledorthographicprojectionwithiteration |