Tracking a rigid object in 3D from a single camera

1997 ◽  
Author(s):  
Han Wang ◽  
Zheng Li
Keyword(s):  
Single Camera ◽  
Rigid Object

scholarly journals Underwater 3D Rigid Object Tracking and 6-DOF Estimation: A Case Study of Giant Steel Pipe Scale Model Underwater Installation

2020 ◽  
Vol 12 (16) ◽  
pp. 2600
Author(s):  
Jyun-Ping Jhan ◽  
Jiann-Yeou Rau ◽  
Chih-Ming Chou
Keyword(s):  
Object Tracking ◽  
Steel Pipe ◽  
Scale Model ◽  
Sediment Surface ◽  
Single Camera ◽  
Rigid Object ◽  
Underwater Environment ◽  
Camera Orientation ◽  
Orientation Information ◽  
Motion Parameters

The Zengwen desilting tunnel project installed an Elephant Trunk Steel Pipe (ETSP) at the bottom of the reservoir that is designed to connect the new bypass tunnel and reach downward to the sediment surface. Since ETSP is huge and its underwater installation is an unprecedented construction method, there are several uncertainties in its dynamic motion changes during installation. To assure construction safety, a 1:20 ETSP scale model was built to simulate the underwater installation procedure, and its six-degrees-of-freedom (6-DOF) motion parameters were monitored by offline underwater 3D rigid object tracking and photogrammetry. Three cameras were used to form a multicamera system, and several auxiliary devices—such as waterproof housing, tripods, and a waterproof LED—were adopted to protect the cameras and to obtain clear images in the underwater environment. However, since it is difficult for the divers to position the camera and ensure the camera field of view overlap, each camera can only observe the head, middle, and tail parts of ETSP, respectively, leading to a small overlap area among all images. Therefore, it is not possible to perform a traditional method via multiple images forward intersection, where the camera’s positions and orientations have to be calibrated and fixed in advance. Instead, by tracking the 3D coordinates of ETSP and obtaining the camera orientation information via space resection, we propose a multicamera coordinate transformation and adopted a single-camera relative orientation transformation to calculate the 6-DOF motion parameters. The offline procedure is to first acquire the 3D coordinates of ETSP by taking multiposition images with a precalibrated camera in the air and then use the 3D coordinates as control points to perform the space resection of the calibrated underwater cameras. Finally, we calculated the 6-DOF of ETSP by using the camera orientation information through both multi- and single-camera approaches. In this study, we show the results of camera calibration in the air and underwater environment, present the 6-DOF motion parameters of ETSP underwater installation and the reconstructed 4D animation, and compare the differences between the multi- and single-camera approaches.

Muybridge / Technology

2010 ◽  
Vol 1 (1) ◽  
pp. 51-62
Author(s):  
Marta Braun
Keyword(s):  
Single Camera ◽  
Art And Science ◽  
Animal Locomotion ◽  
Human Figure ◽  
Final Work

Eadweard Muybridge's 1887 photographic atlas Animal Locomotion is a curious mixture of art and science, a polysemic text that has been subject to a number of readings. This paper focuses on Muybridge's technology. It seeks to understand his commitment to making photographs with a battery of cameras rather than a single camera. It suggests reasons for his choice of apparatus and shows how his final work, The Human Figure in Motion (1901), justifies the choices he made.

scholarly journals Fast 3D Rotation Estimation of Fruits Using Spheroid Models

Sensors ◽  
2021 ◽  
Vol 21 (6) ◽  
pp. 2232
Author(s):  
Antonio Albiol ◽  
Alberto Albiol ◽  
Carlos Sánchez de Merás
Keyword(s):  
Fruit Quality ◽  
3D Model ◽  
Geometric Model ◽  
Fruit Shape ◽  
Single Camera ◽  
Global Score ◽  
Topographic Map ◽  
Single Image ◽  
Large Effort ◽  
Fruit Surface

Automated fruit inspection using cameras involves the analysis of a collection of views of the same fruit obtained by rotating a fruit while it is transported. Conventionally, each view is analyzed independently. However, in order to get a global score of the fruit quality, it is necessary to match the defects between adjacent views to prevent counting them more than once and assert that the whole surface has been examined. To accomplish this goal, this paper estimates the 3D rotation undergone by the fruit using a single camera. A 3D model of the fruit geometry is needed to estimate the rotation. This paper proposes to model the fruit shape as a 3D spheroid. The spheroid size and pose in each view is estimated from the silhouettes of all views. Once the geometric model has been fitted, a single 3D rotation for each view transition is estimated. Once all rotations have been estimated, it is possible to use them to propagate defects to neighbor views or to even build a topographic map of the whole fruit surface, thus opening the possibility to analyze a single image (the map) instead of a collection of individual views. A large effort was made to make this method as fast as possible. Execution times are under 0.5 ms to estimate each 3D rotation on a standard I7 CPU using a single core.

scholarly journals Retro-Reflective-Marker-Aided Target Pose Estimation in a Safety-Critical Environment

2020 ◽  
Vol 11 (1) ◽  
pp. 3
Author(s):  
Laura Gonçalves Ribeiro ◽  
Olli J. Suominen ◽  
Ahmed Durmush ◽  
Sari Peltonen ◽  
Emilio Ruiz Morales ◽  
...  
Keyword(s):  
Pose Estimation ◽  
Stereo Matching ◽  
Motion Parallax ◽  
Extreme Temperature ◽  
Single Camera ◽  
Safety Critical ◽  
Depth Cues ◽  
Significant Challenge ◽  
Visual Technologies ◽  
Marker Detection

Visual technologies have an indispensable role in safety-critical applications, where tasks must often be performed through teleoperation. Due to the lack of stereoscopic and motion parallax depth cues in conventional images, alignment tasks pose a significant challenge to remote operation. In this context, machine vision can provide mission-critical information to augment the operator’s perception. In this paper, we propose a retro-reflector marker-based teleoperation aid to be used in hostile remote handling environments. The system computes the remote manipulator’s position with respect to the target using a set of one or two low-resolution cameras attached to its wrist. We develop an end-to-end pipeline of calibration, marker detection, and pose estimation, and extensively study the performance of the overall system. The results demonstrate that we have successfully engineered a retro-reflective marker from materials that can withstand the extreme temperature and radiation levels of the environment. Furthermore, we demonstrate that the proposed maker-based approach provides robust and reliable estimates and significantly outperforms a previous stereo-matching-based approach, even with a single camera.

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