Pose characterization by independent moment-based image features of planar objects

Abstract

For a unique characterization of the relative position between a 2-D planar object (target) and a camera, the following two mappings have to be singlevalued: mapping from the relative position to the image plane and from the image plane to the feature domain. We consider only white planar targets located in a black background and designed a special target which allows a unique perspective from any relative position. From the image of this target, the 6 relative position and orientation parameters can be characterized by means of 6 independent features. We use moments to extract these features and choose the proper representation to make them independent. 1 Introduction Characterization of the position and orientation of a camera relative to an object based only on the image features has wide application in the robotics field. This is done in two steps: first, the relative position is converted in to the image and, then, a set of independent features are selected from the image. In ord...