Monocular pose estimation of circular primitives

  • R. Neubauer
  • K. Voss
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 970)


In this paper, we describe an analytical and elegant algorithm for monocular pose estimation of spatial circles. The results are applicable for a general camera model (anisotropic scaling of the axes in the image plane, nonorthogonal optical axis and non-orthogonal axes in the image plane). The analytical solutions for location and orientation of the spatial circle will be computed without using the physical camera parameters,using the projective parameters only. The results given here are theoretically closed and numerically effective. The examinations and practical experiments have shown that the precision of monocular reconstruction is good enough realizing tasks of grasping and assembling in robotics.


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Copyright information

© Springer-Verlag Berlin Heidelberg 1995

Authors and Affiliations

  • R. Neubauer
    • 1
  • K. Voss
    • 1
  1. 1.Fakultät für Mathematik und InformatikFriedrich-Schiller-Universität JenaJena

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