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Infrared and Laser Engineering, Volume. 51, Issue 10, 20220030(2022)

Pose estimation of camera based on weighted accelerated orthogonal iterative algorithm

Zhi Xiong1,2, Hang Xu1,2, Liugang Zhang3, Zhihao Guo1,2, Chuqi Wu1,2, Wei Feng1,2, Zhongsheng Zhai1,2, Weihu Zhou1,4, and Dengfeng Dong4
Author Affiliations
  • 1School of Mechanical Engineering, Hubei University of Technology, Wuhan 430068, China
  • 2Hubei Key Lab of Manufacture Quality Engineering, Wuhan 430068, China
  • 3Haining Institute of Integrated Circuits and Advanced Manufacturing, Haining 314400, China
  • 4Institute of Microelectronics, Chinese Academy of Sciences, Beijing 100029, China
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    AbstractGet PDF(in Chinese)
    Figures&Tables (7)
    Equations (24)
    References (22)
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    Figures & Tables(7)
    Curve of attitude calculation error with the number of reference points

    Fig. 1. Curve of attitude calculation error with the number of reference points

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    Attitude calculation error varying with noise level

    Fig. 2. Attitude calculation error varying with noise level

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    Attitude calculation error changing with the number of outliers

    Fig. 3. Attitude calculation error changing with the number of outliers

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    Solution time varies with the number of reference points

    Fig. 4. Solution time varies with the number of reference points

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    Experiment equipment

    Fig. 5. Experiment equipment

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    Reprojection results of image plane

    Fig. 6. Reprojection results of image plane

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    • Table 1. Image plane projection results comparison (Unit：pixel)

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      Table 1. Image plane projection results comparison (Unit：pixel)

      Reference point MeasuredSRPnP calculatedOI calculatedWAOI calculated
      xyxsysrsxoyoroxwywrw
      11112.041075.671108.251095.7620.441107.751097.6522.391111.391076.110.78
      2962.891213.99956.771222.1410.19957.691223.610.93962.521214.760.86
      31104.291144.721104.881144.680.591105.661143.591.781104.671144.760.39
      41183.2937.31188.71945.649.991187.18945.649.241182.99937.530.31
      51036.741144.081032.251155.2512.041032.41156.6213.271036.711144.020.07
      61029.161208.411029.151199.628.791030.571198.0310.481029.721208.450.56
      71242.781218.831243.261220.982.21245.741217.983.071241.911219.160.93
      81174.451077.531179.451074.515.841179.881072.57.41174.671076.730.83
      91181.951007.051185.441019.9113.331184.751020.213.451182.321007.410.52
      10966.161069.77963.331070.242.87962.121071.324.33966.381070.430.7
      11971.22929.21967.57929.763.69963.96931.697.67971.2928.510.7
      121179.211148.971177.771162.6513.751178.81162.4913.531178.891148.630.47
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    Zhi Xiong, Hang Xu, Liugang Zhang, Zhihao Guo, Chuqi Wu, Wei Feng, Zhongsheng Zhai, Weihu Zhou, Dengfeng Dong. Pose estimation of camera based on weighted accelerated orthogonal iterative algorithm[J]. Infrared and Laser Engineering, 2022, 51(10): 20220030

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    Paper Information

    Category: Photoelectric measurement

    Received: Mar. 1, 2022

    Accepted: --

    Published Online: Jan. 6, 2023

    The Author Email:

    DOI:10.3788/IRLA20220030

    Topics

    laser devices and laser physics
    Lasers and Laser Optics
    Laser physics
    laser manufacturing
    Instrumentation, Measurement and Metrology