Study of pose estimation based on multiple feature points topological determination

Wang Peng; Zhou Quantong; Sun Changku

doi:10.3788/IRLA201746.0517001

Volume 46 Issue 5

Jun. 2017

Turn off MathJax

Article Contents

Article Navigation > Infrared and Laser Engineering > 2017 > 46(5): 517001-0517001(9)

Wang Peng, Zhou Quantong, Sun Changku. Study of pose estimation based on multiple feature points topological determination[J]. Infrared and Laser Engineering, 2017, 46(5): 517001-0517001(9). doi: 10.3788/IRLA201746.0517001

Citation:

Wang Peng, Zhou Quantong, Sun Changku. Study of pose estimation based on multiple feature points topological determination[J]. Infrared and Laser Engineering, 2017, 46(5): 517001-0517001(9). doi: 10.3788/IRLA201746.0517001

Study of pose estimation based on multiple feature points topological determination

doi: 10.3788/IRLA201746.0517001

Wang Peng^1,2,
Zhou Quantong^{1
,
,},
Sun Changku^1,2

1.
State Key Laboratory of Precision Measuring Technology Instruments,Tianjin University,Tianjin 300072,China;
2.
Science and Technology Electro-optic Control Laboratory,Luoyang 471009,China

Received Date: 2016-09-05
Rev Recd Date: 2016-10-15
Publish Date: 2017-05-25

Abstract

In monocular vision pose estimation, the topological relationship between objective feature points and image feature points where there are multiple feature points is difficult to determine. An algorithm based on multiple feature points topological determination was proposed to solve this problem where the correspondences are unknown. By mounting multiple feature points on the object, enough proper feature points for pose computing were guaranteed when the object is large-scale moving，which can improve the precision of pose estimation. The algorithm nested the iteration process of topological determination and the iteration process of pose computing into one iteration loop, solving them simultaneously. The pose estimation iteration process was based on para-perspective projection model, where the coordination of the projection of the object gravity center used as the initial parameter of iteration is not needed. The iteration process of topological determination was transformed into a solution of assignment problem. Each topological determination can obtain a better pose estimation in every pose estimation iteration loop. The results of multiple poses experiment and precision comparison experiment prove that the algorithm is qualified for the high precision pose estimation of 3D object with large scale motion, with the root mean square error 0.272in the range of -120-120.
- pose estimation,
- topological determination,
- monocular vision,
- feature point,
- nested iteration

References

[1]	Chen Haixin, Gu Guohua, Qian Weixian, et al. A Fast method for moving target detection on a moving carema[J]. Acta Photonica Sinica, 2014, 43(3):133-138. (in Chinese)陈海欣, 顾国华, 钱惟贤, 等. 一种快速的单目移动相机下运动目标检测方法[J]. 光子学报, 2014, 43(3):133-138.
[2]	Sun C, Sun P, Wang P. An improvement of pose measurement method using global control points calibration[J]. Plos One, 2015, 10(7):e0133905.
[3]	Neumayr R, Zsombor-Murray P, O' Leary P, et al. Precise pose measurement with single camera calibration for planar parallel manipulators[J]. Transactions-Canadian Society for Mechanical Engineering, 2011, 35(35):201-213.
[4]	Zeng Zhankui, Gu Qiangwei, Cao Xibin, et al. Relative pose monocular vision determination of spacecraft using orthogonal Procrustes analysis[J]. Infrared and Laser Engineering, 2015, 44(S1):113-118. (in Chinese)曾占魁, 谷蔷薇, 曹喜滨, 等. 基于正交Procrustes分析的航天器单目视觉相对位姿确定方法[J]. 红外与激光工程, 2015, 44(S1):113-118.
[5]	Wu Fuchao, Hu Zhanyi. A linear method for the PnP problem[J]. Journal of Software, 2003, 14(3):682-688. (in Chinese)吴福朝, 胡占义. PnP问题的线性求解算法[J]. 软件学报, 2003, 14(3):682-688.
[6]	Duan Fuqing, Wu Fuchao, Hu Zhanyi. Camera calibration and 3D reconstruction using parallelism constraint[J]. Journal of Software, 2007, 18(6):1350-1360. (in Chinese)段福庆, 吴福朝, 胡占义. 基于平行性约束的摄像机标定与3D重构[J]. 软件学报, 2007, 18(6):1350-1360.
[7]	Wang Peng, Sun Changku, Zhang Zimiao. Linear pose estimation with a monocular vision system[J]. Chinese Journal of Scientific Instrument, 2011, 32(5):1126-1131. (in Chinese)王鹏, 孙长库, 张子淼. 单目视觉位姿测量的线性求解[J]. 仪器仪表学报, 2011, 32(5):1126-1131.
[8]	Zhang Zimiao, Wang Peng, Sun Changku. Position and orientation measurement method with monocular vision and digital simulation[J]. Journal of Tianjin University, 2011, 44(5):440-444. (in Chinese)张子淼, 王鹏, 孙长库. 单目视觉位姿测量方法及数字仿真[J]. 天津大学学报, 2011, 44(5):440-444.
[9]	Liu Chang, Zhu Feng, Xia Renbo. Monocular pose determination from coplanar two points and one line features[J]. Application Research of Computers, 2012, 29(8):3145-3147. (in Chinese)刘昶, 朱枫, 夏仁波. 基于共面二点一线特征的单目视觉定位[J]. 计算机应用研究, 2012, 29(8):3145-3147.
[10]	Dementhon D F, Davis L S. Model-based object pose in 25 lines of code[J]. International Journal of Computer Vision, 1995, 15(1-2):123-141.
[11]	Horaud R, Dornaika F, Lamiroy B. Object pose:the link between weak perspective, paraperspective, and full perspective[J]. International Journal of Computer Vision, 1997, 22(2):173-189.
[12]	Xia Junjian, Xu Xiaoquan, Xiong Jiulong. Iterative pose estimation using paraperspective camera model[J]. Optics and Precision Engineering, 2012, 20(6):1342-1349. (in Chinese)夏军菅, 徐小泉, 熊九龙. 利用平行透视投影模型的位姿迭代估计[J]. 光学精密工程, 2012, 20(6):1342-1349.
[13]	Zhou Jing, Gao Yinhan, Liu Changying, et al. Attitude caculation of single camera visual system based on an adaptive algorithm[J]. Optics and Precision Engineering, 2012, 20(17):2796-2803. (in Chinese)周婧, 高印寒, 刘长英, 等. 基于自适应算法的单目视觉系统的姿态解算[J]. 光学精密工程, 2012, 20(17):2796-2803.
[14]	David P, Dementhon D, Duraiswami R, et al. SoftPOSIT:simultaneous pose and correspondence determination[J]. International Journal of Computer Vision, 2002, 59(3):424-431.
[15]	Ugurdag H F, Gren S, Canbay F. Gravitational pose estimation[J]. Computers Electrical Engineering, 2010, 36(6):1165-1180.
[16]	Kriener, Charles R. A comparison and evaluation of three different pose estimation algorithms in detecting low texture manufactured objects[J]. Dissertations Theses-Gradworks, 2011(3):108-111.
[17]	Gold S, Rangarajan A, Lu C P, et al. New algorithms for 2D and 3D point matching:pose estimation and correspondence[J]. Pattern Recognition, 1999, 31(8):1019-1031.
[18]	Knight P A. The sinkhorn-knopp algorithm:convergence and applications[J]. Siam Journal on Matrix Analysis Applications, 2007, 30(1):261-275.
[19]	Zhang Z. A flexible new technique for camera calibration[J]. IEEE Transactions on Pattern Analysis Machine Intelligence, 2000, 22(11):1330-1334.

Proportional views

通讯作者: 陈斌, bchen63@163.com

1.
沈阳化工大学材料科学与工程学院沈阳 110142

Get Citation

PDF

XML

Article Metrics

Article views(551) PDF downloads(94) Cited by()

Proportional views

Study of pose estimation based on multiple feature points topological determination

1. State Key Laboratory of Precision Measuring Technology Instruments,Tianjin University,Tianjin 300072,China;

2. Science and Technology Electro-optic Control Laboratory,Luoyang 471009,China

Received Date: 2016-09-05

Rev Recd Date: 2016-10-15

Publish Date: 2017-05-25

Key words:

Abstract: In monocular vision pose estimation, the topological relationship between objective feature points and image feature points where there are multiple feature points is difficult to determine. An algorithm based on multiple feature points topological determination was proposed to solve this problem where the correspondences are unknown. By mounting multiple feature points on the object, enough proper feature points for pose computing were guaranteed when the object is large-scale moving，which can improve the precision of pose estimation. The algorithm nested the iteration process of topological determination and the iteration process of pose computing into one iteration loop, solving them simultaneously. The pose estimation iteration process was based on para-perspective projection model, where the coordination of the projection of the object gravity center used as the initial parameter of iteration is not needed. The iteration process of topological determination was transformed into a solution of assignment problem. Each topological determination can obtain a better pose estimation in every pose estimation iteration loop. The results of multiple poses experiment and precision comparison experiment prove that the algorithm is qualified for the high precision pose estimation of 3D object with large scale motion, with the root mean square error 0.272in the range of -120-120.

HTML

Reference (19)

[1]	Chen Haixin, Gu Guohua, Qian Weixian, et al. A Fast method for moving target detection on a moving carema[J]. Acta Photonica Sinica, 2014, 43(3):133-138. (in Chinese)陈海欣, 顾国华, 钱惟贤, 等. 一种快速的单目移动相机下运动目标检测方法[J]. 光子学报, 2014, 43(3):133-138.
[2]	Sun C, Sun P, Wang P. An improvement of pose measurement method using global control points calibration[J]. Plos One, 2015, 10(7):e0133905.
[3]	Neumayr R, Zsombor-Murray P, O' Leary P, et al. Precise pose measurement with single camera calibration for planar parallel manipulators[J]. Transactions-Canadian Society for Mechanical Engineering, 2011, 35(35):201-213.
[4]	Zeng Zhankui, Gu Qiangwei, Cao Xibin, et al. Relative pose monocular vision determination of spacecraft using orthogonal Procrustes analysis[J]. Infrared and Laser Engineering, 2015, 44(S1):113-118. (in Chinese)曾占魁, 谷蔷薇, 曹喜滨, 等. 基于正交Procrustes分析的航天器单目视觉相对位姿确定方法[J]. 红外与激光工程, 2015, 44(S1):113-118.
[5]	Wu Fuchao, Hu Zhanyi. A linear method for the PnP problem[J]. Journal of Software, 2003, 14(3):682-688. (in Chinese)吴福朝, 胡占义. PnP问题的线性求解算法[J]. 软件学报, 2003, 14(3):682-688.
[6]	Duan Fuqing, Wu Fuchao, Hu Zhanyi. Camera calibration and 3D reconstruction using parallelism constraint[J]. Journal of Software, 2007, 18(6):1350-1360. (in Chinese)段福庆, 吴福朝, 胡占义. 基于平行性约束的摄像机标定与3D重构[J]. 软件学报, 2007, 18(6):1350-1360.
[7]	Wang Peng, Sun Changku, Zhang Zimiao. Linear pose estimation with a monocular vision system[J]. Chinese Journal of Scientific Instrument, 2011, 32(5):1126-1131. (in Chinese)王鹏, 孙长库, 张子淼. 单目视觉位姿测量的线性求解[J]. 仪器仪表学报, 2011, 32(5):1126-1131.
[8]	Zhang Zimiao, Wang Peng, Sun Changku. Position and orientation measurement method with monocular vision and digital simulation[J]. Journal of Tianjin University, 2011, 44(5):440-444. (in Chinese)张子淼, 王鹏, 孙长库. 单目视觉位姿测量方法及数字仿真[J]. 天津大学学报, 2011, 44(5):440-444.
[9]	Liu Chang, Zhu Feng, Xia Renbo. Monocular pose determination from coplanar two points and one line features[J]. Application Research of Computers, 2012, 29(8):3145-3147. (in Chinese)刘昶, 朱枫, 夏仁波. 基于共面二点一线特征的单目视觉定位[J]. 计算机应用研究, 2012, 29(8):3145-3147.
[10]	Dementhon D F, Davis L S. Model-based object pose in 25 lines of code[J]. International Journal of Computer Vision, 1995, 15(1-2):123-141.
[11]	Horaud R, Dornaika F, Lamiroy B. Object pose:the link between weak perspective, paraperspective, and full perspective[J]. International Journal of Computer Vision, 1997, 22(2):173-189.
[12]	Xia Junjian, Xu Xiaoquan, Xiong Jiulong. Iterative pose estimation using paraperspective camera model[J]. Optics and Precision Engineering, 2012, 20(6):1342-1349. (in Chinese)夏军菅, 徐小泉, 熊九龙. 利用平行透视投影模型的位姿迭代估计[J]. 光学精密工程, 2012, 20(6):1342-1349.
[13]	Zhou Jing, Gao Yinhan, Liu Changying, et al. Attitude caculation of single camera visual system based on an adaptive algorithm[J]. Optics and Precision Engineering, 2012, 20(17):2796-2803. (in Chinese)周婧, 高印寒, 刘长英, 等. 基于自适应算法的单目视觉系统的姿态解算[J]. 光学精密工程, 2012, 20(17):2796-2803.
[14]	David P, Dementhon D, Duraiswami R, et al. SoftPOSIT:simultaneous pose and correspondence determination[J]. International Journal of Computer Vision, 2002, 59(3):424-431.
[15]	Ugurdag H F, Gren S, Canbay F. Gravitational pose estimation[J]. Computers Electrical Engineering, 2010, 36(6):1165-1180.
[16]	Kriener, Charles R. A comparison and evaluation of three different pose estimation algorithms in detecting low texture manufactured objects[J]. Dissertations Theses-Gradworks, 2011(3):108-111.
[17]	Gold S, Rangarajan A, Lu C P, et al. New algorithms for 2D and 3D point matching:pose estimation and correspondence[J]. Pattern Recognition, 1999, 31(8):1019-1031.
[18]	Knight P A. The sinkhorn-knopp algorithm:convergence and applications[J]. Siam Journal on Matrix Analysis Applications, 2007, 30(1):261-275.
[19]	Zhang Z. A flexible new technique for camera calibration[J]. IEEE Transactions on Pattern Analysis Machine Intelligence, 2000, 22(11):1330-1334.

Study of pose estimation based on multiple feature points topological determination

doi: 10.3788/IRLA201746.0517001

Abstract

References

Proportional views

通讯作者: 陈斌, bchen63@163.com

Article Metrics

Related

Proportional views