Issue No. 12 - December (2006 vol. 28)
Axel Pinz , IEEE
In theory, the pose of a calibrated camera can be uniquely determined from a minimum of four coplanar but noncollinear points. In practice, there are many applications of camera pose tracking from planar targets and there is also a number of recent pose estimation algorithms which perform this task in real-time, but all of these algorithms suffer from pose ambiguities. This paper investigates the pose ambiguity for planar targets viewed by a perspective camera. We show that pose ambiguities—two distinct local minima of the according error function—exist even for cases with wide angle lenses and close range targets. We give a comprehensive interpretation of the two minima and derive an analytical solution that locates the second minimum. Based on this solution, we develop a new algorithm for unique and robust pose estimation from a planar target. In the experimental evaluation, this algorithm outperforms four state-of-the-art pose estimation algorithms.
Camera pose ambiguity, pose tracking.
A. Pinz and G. Schweighofer, "Robust Pose Estimation from a Planar Target," in IEEE Transactions on Pattern Analysis & Machine Intelligence, vol. 28, no. , pp. 2024-2030, 2006.