3D-Sensing for Robotic Vehicles from a Single Perspective View of a Triplet of Lines at Right Angles to Each Other

Abstract

In this paper a 3D sensing device from a single perspective view to determine the 3D attitude of a camera will be presented. The measuring system is consisted of a CCD camera and a triplet straight lines at right angles to each other located in 3D-space. The positions and orientations of a camera are obtained from the images as the projection of these lines. First, it is proved that the admissible solutions can be analytically calculated by solving the quadratic equations derived from image lines and they can be easily reduced by some simple rules. Furthermore, the errors of the 3D attitude due to the presented method will be examined. The triplet of straight lines are composed of three fluorescent lamps perpendicular to each other, which are respectively mounted along the X, Y, and Z axes of world coordinate system. The camera has a visual field of 320200 pixels.