3D-pose estimation from a quadratic-curved feature in two perspective views

Abstract

Estimation of 3D information from 2D-image coordinates is a fundamental problem in both machine vision and computer vision. A closed-form analytical solution is presented to the problem of 3D-location estimation of quadratic-curved features based on two images. Compared to previous solution methods, the proposed method has the advantages that it is a closed-form solution method, it is mathematically simpler, and a priori knowledge of the size and shape of the feature is not required. The method is demonstrated for an elliptical feature, using a simulated experimental set-up.<>