Paper Info
Title
Pose Estimation in Conformal Geometric Algebra Part II: Real-Time Pose Estimation Using Extended Feature Concepts
Abstract
Part II uses the foundations of Part I [35] to define constraint equations for 2D-3D pose estimation of different corresponding entities. Most articles on pose estimation concentrate on specific types of correspondences, mostly between points, and only rarely use line correspondences. The first aim of this part is to extend pose estimation scenarios to correspondences of an extended set of geometric entities. In this context we are interested to relate the following (2D) image and (3D) model types: 2D point/3D point, 2D line/3D point, 2D line/3D line, 2D conic/3D circle, 2D conic/3D sphere. Furthermore, to handle articulated objects, we describe kinematic chains in this context in a similar manner. We ensure that all constraint equations end up in a distance measure in the Euclidean space, which is well posed in the context of noisy data. We also discuss the numerical estimation of the pose. We propose to use linearized twist transformations which result in well conditioned and fast solvable systems of equations. The key idea is not to search for the representation of the Lie group, describing the rigid body motion, but for the representation of their generating Lie algebra. This leads to real-time capable algorithms.
Year
DOI
Venue
2005
10.1007/s10851-005-4782-9
Journal of Mathematical Imaging and Vision
Keywords
Field
DocType
2D-3D pose estimation,pose constraints,kinematic chains,circles,spheres,twists
Computer vision,Lie group,System of linear equations,3D pose estimation,Euclidean space,Pose,Artificial intelligence,Conic section,Conformal geometric algebra,Lie algebra,Mathematics
Journal
Volume
Issue
ISSN
22
1
0924-9907
Citations 
PageRank 
References 
11
0.74
21
Authors
2
Name
Order
Citations
PageRank
Bodo Rosenhahn11733137.77
Gerald Sommer226921.93