Details
| Original language | English |
|---|---|
| Title of host publication | Multi-Image Analysis |
| Subtitle of host publication | 10th International Workshop on Theoretical Foundations of Computer Vision, Revised Papers |
| Publisher | Springer Verlag |
| Pages | 153-170 |
| Number of pages | 18 |
| ISBN (print) | 354042122X, 9783540421221 |
| Publication status | Published - 2 May 2001 |
| Externally published | Yes |
| Event | 10th International Workshop on Theoretical Foundations of Computer Vision, 2000 - Dagstuhl Castle, Germany Duration: 12 Mar 2000 → 17 Mar 2000 |
Publication series
| Name | Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) |
|---|---|
| Volume | 2032 |
| ISSN (Print) | 0302-9743 |
| ISSN (electronic) | 1611-3349 |
Abstract
The paper concerns 2D-3D pose estimation in the algebraic language of kinematics. The pose estimation problem is modeled on the base of several geometric constraint equations. In that way the projective geometric aspect of the topic is implicitly represented and thus, pose estimation is a pure kinematic problem. The authors propose the use of motor algebra to model screw displacements of lines or the use of rotor algebra to model the motion of points. Instead of using matrix based LMS optimization, the development of special extended Kalman filters is proposed. In this paper extended Kalman filters for estimating rotation and translation of several constraints in terms of rotors and motors will be presented. The experiments aim to compare the use of different constraints and different methods of optimal estimating the pose parameters.
ASJC Scopus subject areas
- Mathematics(all)
- Theoretical Computer Science
- Computer Science(all)
- General Computer Science
Cite this
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Multi-Image Analysis: 10th International Workshop on Theoretical Foundations of Computer Vision, Revised Papers. Springer Verlag, 2001. p. 153-170 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 2032).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Pose estimation using geometric constraints
AU - Sommer, Gerald
AU - Rosenhahn, Bodo
AU - Zhang, Yiwen
PY - 2001/5/2
Y1 - 2001/5/2
N2 - The paper concerns 2D-3D pose estimation in the algebraic language of kinematics. The pose estimation problem is modeled on the base of several geometric constraint equations. In that way the projective geometric aspect of the topic is implicitly represented and thus, pose estimation is a pure kinematic problem. The authors propose the use of motor algebra to model screw displacements of lines or the use of rotor algebra to model the motion of points. Instead of using matrix based LMS optimization, the development of special extended Kalman filters is proposed. In this paper extended Kalman filters for estimating rotation and translation of several constraints in terms of rotors and motors will be presented. The experiments aim to compare the use of different constraints and different methods of optimal estimating the pose parameters.
AB - The paper concerns 2D-3D pose estimation in the algebraic language of kinematics. The pose estimation problem is modeled on the base of several geometric constraint equations. In that way the projective geometric aspect of the topic is implicitly represented and thus, pose estimation is a pure kinematic problem. The authors propose the use of motor algebra to model screw displacements of lines or the use of rotor algebra to model the motion of points. Instead of using matrix based LMS optimization, the development of special extended Kalman filters is proposed. In this paper extended Kalman filters for estimating rotation and translation of several constraints in terms of rotors and motors will be presented. The experiments aim to compare the use of different constraints and different methods of optimal estimating the pose parameters.
UR - http://www.scopus.com/inward/record.url?scp=84957810620&partnerID=8YFLogxK
U2 - 10.1007/3-540-45134-x_12
DO - 10.1007/3-540-45134-x_12
M3 - Conference contribution
AN - SCOPUS:84957810620
SN - 354042122X
SN - 9783540421221
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 153
EP - 170
BT - Multi-Image Analysis
PB - Springer Verlag
T2 - 10th International Workshop on Theoretical Foundations of Computer Vision, 2000
Y2 - 12 March 2000 through 17 March 2000
ER -