A New 2-Point Absolute Pose Estimation Algorithm under Plannar Motion

Sung-In Choi, Soon-Yong Park

2015

Abstract

Several motion estimation algorithms, such as n-point and perspective n-point (PnP) have been introduced over the last few decades to solve relative and absolute pose estimation problems. Since the n-point algorithms cannot decide the real scale of robot motion, the PnP algorithms are often addressed to find the absolute scale of motion. This paper introduces a new PnP algorithm which uses only two 3D-2D correspondences by considering only planar motion. Experiment results prove that the proposed algorithm solves the absolute motion in real scale with high accuracy and less computational time compared to previous algorithms.

Paper Citation

in Harvard Style

Choi S. and Park S. (2015). A New 2-Point Absolute Pose Estimation Algorithm under Plannar Motion . In Proceedings of the 10th International Conference on Computer Vision Theory and Applications - Volume 3: VISAPP, (VISIGRAPP 2015) ISBN 978-989-758-091-8, pages 643-647. DOI: 10.5220/0005360406430647

in Bibtex Style

@conference{visapp15,
author={Sung-In Choi and Soon-Yong Park},
title={A New 2-Point Absolute Pose Estimation Algorithm under Plannar Motion},
booktitle={Proceedings of the 10th International Conference on Computer Vision Theory and Applications - Volume 3: VISAPP, (VISIGRAPP 2015)},
year={2015},
pages={643-647},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005360406430647},
isbn={978-989-758-091-8},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 10th International Conference on Computer Vision Theory and Applications - Volume 3: VISAPP, (VISIGRAPP 2015)
TI - A New 2-Point Absolute Pose Estimation Algorithm under Plannar Motion
SN - 978-989-758-091-8
AU - Choi S.
AU - Park S.
PY - 2015
SP - 643
EP - 647
DO - 10.5220/0005360406430647