A novel pose estimation algorithm based on points to regions correspondence

摘要

A novel pose estimation algorithm is put forward in this paper. Given the points on an object and the convex regions in which the correspondent image points lie, the concrete values of position and orientation (t and R) between the object and the camera are found based on a points to regions correspondence. The unit quaternion representation of rotation matrix and convex Linear Matrix Inequalities (LMI) optimization methods are used to estimate the pose. By loosening the requirement of precise point to point correspondence and using convex LMI formulations, this algorithm provides a more robust and faster pose estimation method. The effect of this method is verified by simulation and laboratory experiment results.