Non-Uniformity of a Pattern and "the Best" Single View 3D Pose Estimator

Abstract

Abstract. Visual model ofan object is presented as composition ofa model-shape function and a model-pattern function. Nonuniformity ofa pattern is defined as a quadratic form related to the gradient ofintensity. F or aplanar model, it is proved rhat a more precise estimation responds to a greater nonuniformity. This is applied to develop a c/ass ofsingle-view 3D-pose estimators exploring extremely non-uniform patterns. The estimators are of high precision, fast, robust, and algorithmical/y simple. Possib/e application is spacecraft docking, or any robot problem permitting usage ofa visual mark (target) on remote object.