New geometric methods in computing the motion parameters of a rigid body using line correspondences

Ming Lei, Bijoy K. Ghosh

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

1 Scopus citations

Abstract

This paper describes a method to determine rigid body motion using straight line correspondences. It is assumed that the body has features in the form of parallel line segments. Our method relies on the observation of two pairs of parallel lines over three frames. By introduction of plucker coordinates of a line in R3, the motion of the line is easily modeled, and the line-based computation of motion parameters can be carried out with algorithms which only involve linear or quadratic equations.

Original languageEnglish
Title of host publicationProceedings of the American Control Conference
PublisherPubl by American Automatic Control Council
Pages1500-1504
Number of pages5
ISBN (Print)0780302109, 9780780302105
DOIs
StatePublished - 1992
EventProceedings of the 1992 American Control Conference - Chicago, IL, USA
Duration: Jun 24 1992Jun 26 1992

Publication series

NameProceedings of the American Control Conference
Volume2
ISSN (Print)0743-1619

Conference

ConferenceProceedings of the 1992 American Control Conference
CityChicago, IL, USA
Period06/24/9206/26/92

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