Computing the six degrees of freedom of light emitting diodes in a monocular image

A portable three-dimensional vision coordinate measuring system capable of determining the six degrees of freedom (6DoF) is proposed in this paper. This cost-efficient test equipment is intended for use in manufacturing and assembly processes, such as the alignment process of aircraft stations. The three-dimensional vision coordinate measuring system is a low cost line-of-sight (LOS) system. It is capable of measuring large objects in the field, and has reduced setup times, as compared to other test measuring systems. Whereas conventional coordinate measurement systems provide three dimensional measurements in a Cartesian coordinate system, the system proposed in this paper is capable of determining yaw, pitch, and roll with respect to a camera. The three-dimensional vision coordinate measuring system consists of light-emitting diode (LED) planar target, a high resolution camera, and a laptop computer. The equations of the three-dimensional vision coordinate measuring system are derived from analytical geometry and the perspective of three collinear points. This paper explores techniques to measure the 6DoF of a LED planar target in monocular image. Experiments confirming the validity of the three-dimensional vision coordinate measuring system are included in this paper.