Reliable solution for object pose determination using an active vision system

The problem of pose determination using a calibrated structured light system is to determine the position and orientation of an object relative to a camera coordinate frame. By projecting a multiple-line light pattern to the three planes of the object, a number of line-to-plane correspondences can be obtained, from which an efficient and compact closed-form solution for the pose determination is derived. The performance of the proposed algorithm in the presence of noise is also investigated. Preliminary experiments conducted with a structured light system shows that this novel method is robust, efficient and is applicable to the real-time pose determination of mobile robot.