New Pose-Detection Method for Self-Calibrated Cameras Based on Parallel Lines and Its Application in Visual Control System

• Published in: IEEE transactions on systems, man and cybernetics. Part B, Cybernetics Vol. 36; no. 5; pp. 1104 - 1117
• Main Authors: Xu, De, Li, You Fu, Shen, Yang, Tan, Min
• Format: Journal Article
• Language: English
• Published: United States IEEE 01.10.2006
• Subjects: Algorithms; Artificial Intelligence; Calibration; Camera self-calibration; Cameras; Control systems; Cybernetics; Design automation; Equipment Failure Analysis - methods; Equipment Failure Analysis - standards; hand-eye system; Image reconstruction; Intelligent manufacturing systems; Laboratories; Manufacturing automation; Mathematical analysis; Motion; Pattern Recognition, Automated - methods; Pattern Recognition, Automated - standards; Photogrammetry - instrumentation; Photogrammetry - methods; Photography - instrumentation; Photography - methods; Photography - standards; Planes; pose detection; ratio invariance; Reconstruction; Research and development; Research and development management; Rotational; Transformations; Video Recording - instrumentation; Video Recording - methods; Video Recording - standards; Visual control; Visual servoing
• ISSN: 1083-4419; 1941-0492
• DOI: 10.1109/TSMCB.2006.874134

In this paper, a new method is proposed to detect the pose of an object with two cameras. First, the intrinsic parameters of the cameras are self-calibrated with two pairs of parallel lines that are orthogonal. Then, the poses of the cameras relative to the parallel lines are deduced, and the rotational transformation between the two cameras is calculated. With the intrinsic parameters and the relative pose of the two cameras, a method is proposed to obtain the poses of a line, plane, and rigid object. Furthermore, a new visual-control method is developed using a pose detection rather than a three-dimensional reconstruction. Experiments are conducted to verify the effectiveness of the proposed method