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Author, Editor(s)

Author(s):

Rosenhahn, Bodo
Sommer, Gerald

dblp
dblp

Not MPG Author(s):

Sommer, Gerald

BibTeX cite key*:

RosenhahnJMIV2005b

Title

Title*:

Pose Estimation in Conformal Geometric Algebra. Part II: Real-Time pose estimation using extended feature concepts

Journal

Journal Title*:

Journal of Mathematical Imaging and Vision

Journal's URL:

http://www.springerlink.com/(rm0acsrmmui1lyqzcq4totfx)/app/home/contribution.asp?referrer=parent&backto=issue,3,6;journal,5,49;linkingpublicationresults,1:100293,1

Download URL
for the article:

http://www.ingentaconnect.com/content/klu/jmiv/2005/00000022/00000001

Language:

English

Publisher

Publisher's
Name:

Springer Science+Business Media B.V.

Publisher's URL:


Publisher's
Address:

Heidelberg, Germany

ISSN:

0924-9907

Vol, No, pp, Date

Volume*:

22

Number:

1

Publishing Date:

January 2005

Pages*:

49-70

Number of
VG Pages:

22

Page Start:


Page End:


Sequence Number:


DOI:


Note, Abstract, ©

Note:


(LaTeX) Abstract:

Part II uses the foundations of Part I [35] to define constraint equations for 2D-3D pose estimation of different corresponding entities. Most articles on pose estimation concentrate on specific types of correspondences, mostly between points, and only rarely use line correspondences. The first aim of this part is to extend pose estimation scenarios to correspondences of an extended set of geometric entities. In this context we are interested to relate the following (2D) image and (3D) model types: 2D point/3D point, 2D line/3D point, 2D line/3D line, 2D conic/3D circle, 2D conic/3D sphere. Furthermore, to handle articulated objects, we describe kinematic chains in this context in a similar manner. We ensure that all constraint equations end up in a distance measure in the Euclidean space, which is well posed in the context of noisy data. We also discuss the numerical estimation of the pose. We propose to use linearized twist transformations which result in well conditioned and fast solvable systems of equations. The key idea is not to search for the representation of the Lie group, describing the rigid body motion, but for the representation of their generating Lie algebra. This leads to real-time capable algorithms.

URL for the Abstract:


Categories,
Keywords:

2D-3D pose estimation, pose constraints, kinematic chains, circles, spheres, twists

HyperLinks / References / URLs:


Copyright Message:


Personal Comments:


Download
Access Level:

Public

Correlation

MPG Unit:

Max-Planck-Institut für Informatik



MPG Subunit:

Computer Graphics Group

Appearance:

MPII WWW Server, MPII FTP Server, MPG publications list, university publications list, working group publication list, Fachbeirat


BibTeX Entry:

@ARTICLE{RosenhahnJMIV2005b,
AUTHOR = {Rosenhahn, Bodo and Sommer, Gerald},
TITLE = {Pose Estimation in Conformal Geometric Algebra. Part II: Real-Time pose estimation using extended feature concepts},
JOURNAL = {Journal of Mathematical Imaging and Vision},
PUBLISHER = {Springer Science+Business Media B.V.},
YEAR = {2005},
NUMBER = {1},
VOLUME = {22},
PAGES = {49--70},
ADDRESS = {Heidelberg, Germany},
MONTH = {January},
ISBN = {0924-9907
},
}


Entry last modified by Christine Kiesel, 07/06/2006
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Editor(s)
Bodo Rosenhahn
Created
12/22/2005 09:48:54 AM
Revisions
5.
4.
3.
2.
1.
Editor(s)
Christine Kiesel
Christine Kiesel
Christine Kiesel
Christine Kiesel
Christine Kiesel
Edit Dates
06.07.2006 14:56:37
05.07.2006 15:54:10
31.05.2006 11:36:28
31.05.2006 11:34:37
04/25/2006 05:05:08 PM
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