R. Horaud et al., OBJECT POSE - THE LINK BETWEEN WEAK PERSPECTIVE, PARAPERSPECTIVE, ANDFULL PERSPECTIVE, International journal of computer vision, 22(2), 1997, pp. 173-189
Citations number
18
Categorie Soggetti
Computer Sciences, Special Topics","Computer Science Artificial Intelligence
Recently, DeMenthon and Davis (1992, 1995) proposed a method for deter
mining the pose of a 3-D object with respect to a camera from 3-D to 2
-D point correspondences. The method consists of iteratively improving
the pose computed with a weak perspective camera model to converge, a
t the limit, to a pose estimation computed with a perspective camera m
odel. In this paper we give an algebraic derivation of DeMenthon and D
avis' method and we show that it belongs to a larger class of methods
where the perspective camera model is approximated either at zero orde
r (weak perspective) or first order (paraperspective). We describe in
detail an iterative paraperspective pose computation method for both n
on coplanar and coplanar object points. We analyse the convergence of
these methods and we conclude that the iterative paraperspective metho
d (proposed in this paper) has better convergence properties than the
iterative weak perspective method. We introduce a simple way of taking
into account the orthogonality constraint associated with the rotatio
n matrix. We analyse the sensitivity to camera calibration errors and
we define the optimal experimental setup with respect to imprecise cam
era calibration. We compare the results obtained with this method and
with a non-linear optimization method.