Pose estimation and representation of cylinders from single two-dimensional images in modeling remotely operated vehicle (ROV) environments

Rune Volden

doi:10.1117/12.190119

26 October 1994 Pose estimation and representation of cylinders from single two-dimensional images in modeling remotely operated vehicle (ROV) environments

Rune Volden

Author Affiliations +

Proceedings Volume 2258, Ocean Optics XII; (1994) https://doi.org/10.1117/12.190119
Event: Ocean Optics XII, 1994, Bergen, Norway

Abstract

In this paper a method is proposed on how to extract cylinders from single 2D images. The operator restricts the search area for the image ellipse from the projected cylinder, and a least- square ellipse is obtained and verified by the operator. By knowing the radius and length of the cylinder, an algorithm using projective geometry back projects the image ellipse to a circle in three-space. The center and normal vector to this circle are obtained. If both cylinder tangents are visible, a better estimate of cylinder axis is obtained. From this a synthetic cylinder is computed and projected onto the original image. If the synthetic cylinder is a good fit, it is transferred to a CAD model of the environment, which is updated. The operator receives an updated version of the environment, which either includes a new cylinder or a better pose estimate of one of the previously identified cylinders.

Citation Download Citation

Rune Volden "Pose estimation and representation of cylinders from single two-dimensional images in modeling remotely operated vehicle (ROV) environments", Proc. SPIE 2258, Ocean Optics XII, (26 October 1994); https://doi.org/10.1117/12.190119

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