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A novel geometric invariant of a pair of conics and its application to eyeglasses-tracking interface

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  • Robot and Applications
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Abstract

This paper deals with a three-dimensional (3-D) pose estimation problem of a pair of two conics. We first introduce a novel geometric invariant derived from a pair of conics, and then propose a procedure of determining a set of three invariants when two independent conics are given. As a solution of P2C (perspective-two-conics) problem, this paper also provides a pose estimation algorithm that employs an iterative procedure, which aims to optimize the orientation parameters by involving the shape information of conics. The proposed method is verified through a series of experiments for analyzing pose estimation accuracy and precision, being compared with some general approaches. As an application example, we present an eyeglasses-tracking interface, and discuss its performance through some experiment results.

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Authors and Affiliations

  1. Division of Marine Engineering, Mokpo National Maritime University, Haeyangdaehak-ro 91, Mokpo-si, Jeollanam-do, 58628, Korea

    Heon-Hui Kim

  2. School of Robotics, Kwangwoon University, 447-1 Wolgye-dong, Nowon-gu, Seoul, 139-701, Korea

    Kwang-Hyun Park

Authors
  1. Heon-Hui Kim
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  2. Kwang-Hyun Park
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Corresponding author

Correspondence to Kwang-Hyun Park.

Additional information

Recommended by Associate Editor Dong-Joong Kang under the direction of Editor Myo Taeg Lim.

Heon-Hui Kim received the B.S. degree in marine system engineering and theM.S. and Ph.D. degrees in control and instrumentation engineering from Korea Maritime University, Busan, Korea, in 1997, 2002, and 2012, respectively. He was a researcher with the Human-friendly Welfare Robot System Engineering Research Center, KAIST, Daejeon, Korea during 2006- 2009, and with the Art and Robotics Institute, Kwangwoon University, Seoul, Korea, from 2009 to 2014. He is currently an Assistant Professor with the Division of Marine Engineering, Mokpo National Maritime University, Jeollanam-do, Korea. His current research interests include pattern recognition, robot vision, haptic-based teleoperation system, and marine robotics.

Kwang-Hyun Park received the B.S., M.S., and Ph.D. degrees in electrical engineering and computer science from the Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Korea, in 1994, 1997, and 2001, respectively. During 2001-2003, he was a Research Associate with the Human-Friendly Welfare Robot System Engineering Research Center, KAIST. He was a Research Professor with the Department of Electrical Engineering and Computer Science, KAIST, from 2003 to 2004 and a Visiting Researcher with the College of Computing, Georgia Institute of Technology, Atlanta, USA, from 2004 to 2005. He was also a Visiting Professor with the Department of Electrical Engineering and Computer Science, KAIST, from 2005 to 2008 and is currently an Associate Professor with the School of Robotics, Kwangwoon University, Seoul, Korea. His current research interests include intelligent service robot, human-robot interaction and pattern recognition.

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Kim, HH., Park, KH. A novel geometric invariant of a pair of conics and its application to eyeglasses-tracking interface. Int. J. Control Autom. Syst. 15, 1332–1341 (2017). https://doi.org/10.1007/s12555-015-0410-7

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  • DOI: https://doi.org/10.1007/s12555-015-0410-7

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