title: A New Pose Estimation Algorithm Using a Perspective-Ray-Based Scaled Orthographic Projection with Iteration.
abstract: Pose estimation aims at measuring the position and orientation of a calibrated camera using known image features. The pinhole model is the dominant camera model in this field. However, the imaging precision of this model is not accurate enough for an advanced pose estimation algorithm. In this paper, a new camera model, called incident ray tracking model, is introduced. More importantly, an advanced pose estimation algorithm based on the perspective ray in the new camera model, is proposed. The perspective ray, determined by two positioning points, is an abstract mathematical equivalent of the incident ray. In the proposed pose estimation algorithm, called perspective-ray-based scaled orthographic projection with iteration (PRSOI), an approximate ray-based projection is calculated by a linear system and refined by iteration. Experiments on the PRSOI have been conducted, and the results demonstrate that it is of high accuracy in the six degrees of freedom (DOF) motion. And it outperforms three other state-of-the-art algorithms in terms of accuracy during the contrast experiment.
authors.affiliation: State Key Laboratory of Precision Measuring Technology and Instruments, Tianjin University, Tianjin, China.
authors.forename: Pengfei
authors.initials: P
authors.lastname: Sun
authors.affiliation: State Key Laboratory of Precision Measuring Technology and Instruments, Tianjin University, Tianjin, China.
authors.forename: Changku
authors.initials: C
authors.lastname: Sun
authors.affiliation: State Key Laboratory of Precision Measuring Technology and Instruments, Tianjin University, Tianjin, China; Science and Technology on Electro-optic Control Laboratory, Luoyang Institute of Electro-optic Equipment, Luoyang, China.
authors.forename: Wenqiang
authors.initials: W
authors.lastname: Li
authors.affiliation: State Key Laboratory of Precision Measuring Technology and Instruments, Tianjin University, Tianjin, China; Science and Technology on Electro-optic Control Laboratory, Luoyang Institute of Electro-optic Equipment, Luoyang, China.
authors.forename: Peng
authors.initials: P
authors.lastname: Wang
mesh_terms: D000465:Algorithms; D058998:Remote Sensing Technology