Reduced homography based on structural redundancy of conditioned motion
First Claim
1. A method of recovering pose parameters of an optical apparatus, said method comprising the steps of:
- a) imaging a plurality of space points as measured imaged points on an optical sensor of said optical apparatus;
b) determining a structural redundancy in said measured image points due to a conditioned motion of said optical sensor;
c) employing a reduced representation of said measured image points as a plurality of rays in homogeneous coordinates in a projective plane of said optical sensor, said reduced representation being consonant with said conditioned motion; and
d) estimating at least one pose parameter with respect to a canonical pose of said optical apparatus by employing said reduced representation.
1 Assignment
0 Petitions
Accused Products
Abstract
Efficient techniques of recovering the pose of an optical apparatus exploiting structural redundancies due the conditioned motion of an apparatus are disclosed. The techniques are based on determining a reduced homography consonant to the conditioned motion of the optical apparatus. The optical apparatus comprises an optical sensor on which space points are imaged as measured image points. The reduced homography is based on a reduced representation of the space points, obtained by exploiting the structural redundancy in the measured image points due to the conditioned motion. The reduced representation consonant with the conditioned motion is defined by rays in homogeneous coordinates and contained in a projective plane of the optical sensor.
41 Citations
21 Claims
-
1. A method of recovering pose parameters of an optical apparatus, said method comprising the steps of:
-
a) imaging a plurality of space points as measured imaged points on an optical sensor of said optical apparatus; b) determining a structural redundancy in said measured image points due to a conditioned motion of said optical sensor; c) employing a reduced representation of said measured image points as a plurality of rays in homogeneous coordinates in a projective plane of said optical sensor, said reduced representation being consonant with said conditioned motion; and d) estimating at least one pose parameter with respect to a canonical pose of said optical apparatus by employing said reduced representation. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
-
-
17. A system for recovering a pose parameter of an optical apparatus comprising:
-
a) an optical sensor on which a plurality of space points are imaged as measured imaged points, said optical sensor connected to said optical apparatus; b) a structural redundancy in said measured image points due to a conditioned motion of said optical sensor; c) a reduced representation of said measured image points as a plurality of rays in homogeneous coordinates in a projective plane of said optical sensor, said reduced representation consonant with said conditioned motion; wherein said pose parameter is estimated with respect to a canonical pose of said optical apparatus, by employing said reduced representation. - View Dependent Claims (18, 19, 20, 21)
-
Specification