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2 February 2009 3D registration method based on monocular vision and perspective model
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The checkerboard target is precisely processed and fixed on the measurement system. The feature points' coordinates on the target in the measurement coordinate system are invariable with the motion of the measurement sensors, and obtained by using the intermediary coordinate transformation method. The feature points are captured by an accurately calibrated camera. The three collinear and equidistant points are used to build the simplest perspective-three-point model, and the coordinates can been calculated by the model. Not less than three non-collinear points, which can be obtained by two groups of models, are used to coarsely estimate the exterior parameters from the target coordinate system to the camera coordinate system. To improve the exterior parameters' precision, an optimization scheme is used to minimize the cost function of re-projection error. Every feature point' coordinates in the camera coordinate system can be accurately calculated. Finally, the registration matrix is obtained. Experimental results show that the new method is simple, flexible and effective.
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Jiandong Han and Naiguang Lu "3D registration method based on monocular vision and perspective model", Proc. SPIE 7160, 2008 International Conference on Optical Instruments and Technology: Optoelectronic Measurement Technology and Applications, 71601N (2 February 2009);

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