KEYWORDS: Image segmentation, Particles, 3D modeling, Particle filters, Cameras, 3D image processing, Detection and tracking algorithms, Optimization (mathematics), 3D acquisition, 3D metrology
To track and estimate the pose of known rigid objects efficiently in complex environment, we propose a method based on 3D particle filter (PF) with M-estimation optimization. A similarity observation model is put forward according to a new distance function of line segments firstly; secondly, the correspondences between 3D-2D line segments are obtained based on the tracking results of PF. Then, the pose is optimized using M-estimation to minimize the objective function defined according to our new distance metric which integrating the midpoint distance. Finally, the optimized particles are fused into the PF framework according to the importance sampling theory. Experiments indicate that the proposed method can effectively track and accurately estimate the pose of freely moving objects in unconstrained environment. Comparisons on synthetic images demonstrate that our method greatly outperforms the state-of-art method in accuracy and efficiency.
KEYWORDS: Laser range finders, Calibration, Mathematical modeling, Mathematics, Laser systems engineering, 3D metrology, Visual process modeling, 3D modeling, CCD cameras, Laser therapeutics
A mono-camera based calibration method for laser ranger finder (LRF) combined with a two-axes turntable measurement system is proposed in this paper. The LRF rotates around the two axes and two parallel calibration planes are used to intercept a laser beam in order to calculate the manually-set output point of the LRF. The space coordinate of the two laser beam spots is computed using monocular vision method. Then the manually-set output point of LRF is calculated based on the principle of light propagating linearly. At last multiple manually-set output points are collected to fit the axis parameters. The space coordinates of targets can be calculated by LRF measurement system through accurately calibrating the two-axes of the turntable. A quantitative experiments show that the measuring precision of the system is within 0.5mm. Our calibration method is simple, effective can be extended in other measuring system with a single, two and more axes turntable.
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