A new closed-form solution for absolute orientation

Author

Wang, Zhengyan ; Jepson, Allan

Author_Institution

Dept. of Comput. Sci., Toronto Univ., Ont., Canada

fYear

1994

fDate

21-23 Jun 1994

Firstpage

129

Lastpage

134

Abstract

Presents a closed-form solution for the determination of 3D displacement and rotation parameters, given a set of 3D point correspondences. The method applies to the general case of arbitrary displacement and rotation with respect to an arbitrary stationary scene. The approach is based on the linear subspace method, which allows separate linear equations to be extracted for the displacement and rotation. This leads to a simple algorithm, suitable for real-time implementations, for the determination of both the 3D transformation and error estimates for the estimated 3D displacement. Preliminary experimental results with range data are presented

Keywords

computational geometry; computer vision; real-time systems; 3D displacement parameters; 3D point correspondences; 3D rotation parameters; 3D transformation; absolute orientation; arbitrary stationary scene; closed-form solution; error estimates; linear equations; linear subspace method; range data; real-time implementation; Geometric modeling; Machine vision; Real-time systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer Vision and Pattern Recognition, 1994. Proceedings CVPR '94., 1994 IEEE Computer Society Conference on

Conference_Location

Seattle, WA

ISSN

1063-6919

Print_ISBN

0-8186-5825-8

Type

conf

DOI

10.1109/CVPR.1994.323819

Filename

323819