Chinese Journal of Computers   Full Text
Title	Determining Camera Pose Based on Body of Revolution
Authors	WANG Ting WANG Yue-Chao YAO Chen
Address	(State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016)
Year	2008
Issue	No.3(493—501)
Abstract &   Background	Abstract Camera pose determination for body of revolution with single camera is a problem that is referred little and more puzzled. Traditional pose estimation methods using point features, straight line features and conics features have corresponding problems when they are applied to pose computation based on body of revolution. This paper presents a geometric model composed of four tangential ellipses that surround the surface of a cylinder. By using the preserved characteristic of conics and the corresponding characteristic of ellipse, three control points which can determine the pose of the model uniquely are obtained, thus the current problem of is converted into the problem of P3P. At the same time, a judgment method is developed to get the solution mode of P3P according to the curving style of eyeable arc on the model based on the analysis of the solution mode region of P3P. After that the proving process is presented. The effectiveness of the location method based on model is confirmed by simulation. At last, the model is used to lead a manipulator to locate the object in an experiment. keywords body of revolution; the P3P problem; multi-solution phenomenon; unique solution background The paper is based on the National High Technology Research and Development Program (863 Program) Project "Pivotal Techniques of Bomb Disposal Robot". The project aims to solve the problem of determining pose of cooperative target with single camera when guiding robot arm to grasp the object. Since the pose of the end of robot arm needs to be detected in real time and it takes on body of revolution, the design of a novel cooperative target based on curve is provided in this paper as well as the corresponding determination method and experiment result.