Rigid body pose estimation accuracy: a comparison of single-camera and stereo techniques
Hassan Mostafavi · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 1994
This paper analyzes the accuracy of rigid body pose estimation (measurement of attitude angles and position, i.e., six degrees of freedom, or six DOF) using imaging sensors. Different approaches are evaluated using an analytic model and actual measurements made on the video images of an airplane. The performance of the single-camera technique is compared with stereo methods. Single-camera pose estimation is preferred in a number of measurement and control applications because, in addition to requiring less hardware and processing resources, it simplifies the system setup and operation. Except for the camera-to-object distance, the single-camera accuracy is shown to be comparable with stereo techniques and viable for a number of applications. The analytic results are validated using measurements made on the airplane video sequence using a software specially developed for image-based six DOF estimation.