Ellipse fitting and three-dimensional localization of objects based on elliptic features

摘要

In the area of robotic vision we are interested in developing algorithms for the control of a robot manipulator by means of visual feedback. Image analysis and exploitation of the image features are therefore steps of importance. This paper deals with the problem of three-dimensional localization of objects representing circular patterns. The first part of the paper is concerned with the parametrization of elliptic curves and the second part is dedicated to the estimation of an object's position and orientation.