POSE DETERMINATION OF A CYLINDER USING REPROJECTION TRANSFORMATION

Extracting useful and robust feature points from a cylinder image for 3D pose determination is a relatively difficult task, since there are no feature points or lines on the cylinder. In this study, a key vecto r from a cylinder image is found to yield a transformation. The cylind er is then ''reprojected'' from the original image to obtain a new ima ge using the transformation. The new image reveals some important feat ures capable of determining the 3D cylinder position robustly. The pro posed method can yield an exact and analytical solution without the re quirement of using any special marks, extra equipment or assumptions. Additionally, a problem in which both circles on the cylinder are not completely visible due to the viewing angle can be resolved by this me thod. Finally, experimental results are provided to verify the theory and show the robustness of our method.