Monocular Pose Determination from Three Perpendicular Lines
Ou Jin · 2012
Monocular vision based pose determination is one of the typical problems in computer vision. If an object has three lines which are perpendicular to each other and intersect at two points,the pose parameters between a calibrated camera and the object can be calculated using 2D-3D correspondences of these three lines. A method is presented to find out the closed-form solutions of the problem. It is proved that the pose solution number depends on the location of camera’s optical center from the three lines. If the optical center locates between two planes,the problem has two symmetry solutions. Otherwise,it has a unique solution. The symmetry property of the solutions can be used to distinguish the real one from two possible solutions. Three perpendicular lines are three edge lines of a cuboid and the cuboids exist widely in real world. Therefore,the above results are useful to design or select cooperative targets in real applications using line features.