Circle Pose Estimation Based on Stereo Vision

This paper presents a simple method of circle pose estimation based on binocular stereo vision. It takes the projective equation of a circle as the basis, and gives the closed form solution of the pose parameters. Since there are two possible sets of pose parameters for a circle from one calibrated perspective view, the stereo vision constraints are incorporated and the accurate pose parameters are determined. Experiments using computer simulated data and real data demonstrate the robustness and accuracy of our method.