Determining pose and shape parameters of primitive quadric objects from images

• Main Authors: Cheng-Wei Huang, 黃琛崴
• Other Authors: Zen Chen
• Format: Others
• Language: en_US
• Published: 1999
• Online Access: http://ndltd.ncl.edu.tw/handle/87723845022258581932

博士 === 國立交通大學 === 資訊工程系 === 87 === In this dissertation we perform pose determination and shape reconstruction to obtain 3D parameters of primitive quadric objects from a single image. To begin with we present the relevant geometric concepts and theorems which are bases of pose determination and shape reconstruction. This dissertation consists of five parts. In the first part we infer the 3D information of parallel lines from an image. In this manner, the dual property of the vanishing point, named the dual vanishing point property, is investigated and we obtain several properties in perspective geometry. In the same manner, the dual vanishing line can also be obtained. In the second part we deal with the pose parameters of a circle. In a circle feature, a general and geometric method is proposed for the pose estimation of a circle. The circle pose parameters are obtained directly through the determination of the largest apex angle (LAA) at the apex of the viewing cone. We then present theorems on the viewing geometry which are essential to the pose determination. We obtain the closed form and exact solution(s). Besides, it has a clear geometric interpretation. In the third part the same concept can also be used to provide a better approach to solving the pose determination problem for a cylinder. The same difficulties exist in the pose determination of cylinders. Also, extracting useful feature points from a right cylinder image is also relatively difficult. We also can obtain the exact and analytical solution. We use a special vector for the reprojection transformation and obtain a new image (the canonical image). The points on the symmetrical axis of the pattern are adequate for pose determination of a cylinder. In the fourth part we discuss the reconstruction of a cylinder from an image. We use a planar mirror to generate the stereo effect. From the double (or compound) image we can use four 3D tangent planes to the real cylinder and minimal least square error for the cylinder radius. The location, orientation of the axis, and the height of the cylinder can then be computed. The correspondences between real/reflected cylinder in this setup will be studied. Moreover, multiple cylinders with occlusion are considered in reconstruction. In the fifth part we extend our method to the pose determination and shape reconstruction of spheres and cones by using the same principles such as the LAA, the reprojection transformation, and four tangent planes. Finally, the experiments are included to illustrate the validness and effectiveness of our methods. We also analyze the noise sensitivity of our method. The results show that our method is robust.