3D Pose from 3 Corresponding Points Under Weak-Perspective Projection

Abstract

Model-based object recognition commonly involves using a minimal set of matched model and image points to compute the pose of the model in image coordinates. Furthermore, recognition systems often rely on the 'weak- perspective' imaging model in place of the perspective imaging model. This paper discusses computing the pose of a model from three corresponding points under weak-perspective projection. A new solution to the problem is proposed which, like previous solutions, involves solving a biquadratic equation. Here the biquadratic is motivated geometrically and its solutions, comprised of an actual and a false solution, are interpreted graphically. The final equations take a new form, which lead to a simple expression for the image position of any unmatched model point.... Computer vision, Weak perspective, Recognition, Pose estimation, Alignment.

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Document Details

Document Type
Technical Report
Publication Date
Jul 01, 1992
Accession Number
ADA259737

Entities

People

  • T. D. Alter

Organizations

  • Massachusetts Institute of Technology

Tags

Communities of Interest

  • Air Platforms

DTIC Thesaurus Topics

  • Artificial Intelligence
  • Computations
  • Computer Vision
  • Computers
  • Coordinate Systems
  • Equations
  • Geometry
  • Image Processing
  • Image Recognition
  • Information Processing
  • Machine Perception
  • Object Recognition
  • Recognition
  • Three Dimensional
  • Two Dimensional

Readers

  • Calculus or Mathematical Analysis
  • Computer Vision.

Technology Areas

  • AI & ML
  • AI & ML - Bayesian Inference
  • AI & ML - Machine Learning Algorithms