Pose determination of circular cylinders using elliptical and side projections

Abstract

The problem of finding the 3-D position and orientation of a circular cylinder using one view and known values of its radius and height is considered. Since a cylinder does not have uniquely matchable points or line features, traditional viewpoint recovery mathematics cannot be used. Instead, elliptical projection of the circular ends and straight-line projection of the cylinder sides can be used to calculate the cylinder position up to five degrees of freedom. It is shown that the viewpoint can be independently computed based on either the elliptical projection of the circular top or the straight-line projection of the cylinder sides.<>