Location of polyhedral objects in 3-D space from three unconstrained edge points

摘要

Abstract: We present algorithms for locating polyhedral objects using three edge points. An edge point is a three-dimensional data point which lies on a known edge of an object. In this paper, we assume that the precise position of an edge point on an edge is not known. In general, with three edge points, we have to solve a system of nonlinear equations. However, there are special cases, where we can solve the location problem analytically. The special cases depend on the collinearity and coplanarity of the three edge points.!11