A Method of Determining the Pose of Spatial Plane Based on Monocular Vision and Ellipse Features

Based on monocular vision and circular markers on the planar pattern, a new method of determining the pose of spatial plane is proposed. Since CCD image of circular feature is ellipse,determining the pose of spatial plane may be transformed into determining the pose of ellipse.Ellipse curve equation of circular image is derived and the independent parameters of ellipse are obtained, the relationship between spatial plane and ellipse parameters is established, thus the pose of spatial plane can be determined.By calculating the relative displacement with the standard plane that its depth information is known, the depth information from the center of ellipse image to the camera coordinate system is obtained.The algorithm is simple and fast,and it can be widely used in the detection of monocular vision.