RELATIVE MOTION AND POSE FROM ARBITRARY PLANE-CURVES

We show how to recover the position and orientation of a pair of known coplanar conics from a single perspective image. We describe and comp are a number of methods for determining this relationship. One uses a simple four point back projection model, and the other utilizes transf ormation invariants. These results can be extended in a number of ways . Firstly, they can be applied to arbitrary plane curves using an inva riant fitting technique. Secondly, the recovery methods are applicable to higher order algebraic curves. We show examples of pose determinat ion for both synthetic data and real images of conic and non-conic obj ects. For example, we recognize and determine pose for a gasket contai ning non-conic curves. We assess the methods for stability and for acc uracy against an accepted standard-Tsai's calibration method1. We conc lude that using such methods enables accurate pose determination for a rbitrary plane curves.