A stable vision-based pose measurement approach by fusing the plane constraints formed by the control points and optical center

Due to the existence of noise, the non-iterative pose measurement approaches tend to be unstable when there are no redundant 3D control points. The pose measurement is easily affected by the measurement factors, i.e., the shape composed of the control points, the size of the shape composed of the control points, and the distance between the camera and control points. In order to enhance the anti-noise ability, thereby reducing the influence of the measurement factors, reducing the pose measurement error, and improving the pose measurement stability, a non-iterative pose measurement approach is proposed based on fusing the plane constraints formed by the control points and optical center. In addition to the correspondence between each control point and the corresponding image point, the length between any two control points is considered. The length constraint is converted to the plane constraint formed by these two control points and the optical center because the plane constraint can be fused in the non-iterative pose measurement model established by the correspondence between each control point and the corresponding image point. Experimental results show the advantages of our pose measurement approach.