Image moment-based planar object pose estimation

Fen Jin, Xiao Luo*

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

To address the error problem caused by the coupling of in-plane object pose estimation, this paper proposes an image moment-based planar object pose estimation, which simplifies the computational process by adding a virtual rotation process of the object plane and achieves a closed solution by completely decoupling the rotational and translational components of the interaction matrix. On this basis, a control scheme based on a monocular camera is designed to verify the results of the in-plane object's positional estimation. The experimental results show that this method can realize the exponential decrease of the error of the plane parameters and the velocity of the object, and the velocity of the object is stable and has good robustness.

Original languageEnglish
Title of host publication2023 3rd International Conference on Consumer Electronics and Computer Engineering, ICCECE 2023
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages388-393
Number of pages6
ISBN (Electronic)9798350331578
DOIs
Publication statusPublished - 2023
Event3rd International Conference on Consumer Electronics and Computer Engineering, ICCECE 2023 - Guangzhou, China
Duration: 6 Jan 20238 Jan 2023

Publication series

Name2023 3rd International Conference on Consumer Electronics and Computer Engineering, ICCECE 2023

Conference

Conference3rd International Conference on Consumer Electronics and Computer Engineering, ICCECE 2023
Country/TerritoryChina
CityGuangzhou
Period6/01/238/01/23

Keywords

  • eye out of hand
  • image moment
  • position estimation

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