Double-Ring Marker Based 3D Pose Estimation for Rod-Shaped Object from a Single 2D Image

Abstract

In this paper, we propose like Double-Ring Marker based method which can estimate the 3D pose parameters of a Rod-shaped object such as MIS (Minimally Invasive Surgery) instrument using just a single 2D image. The core of the proposed method is a set of equations derived from the geometric relationship between the Double-Ring Markers on the rod and their projections onto the image plan through the camera's perspective transformation. Compared to existing MIS pose estimation methods, which normally require time consuming processes including depth estimation, instrument identification and position parameters estimation as the pre-processing, the proposed Double-Rings marker based algorithm is very accurate and efficient.