How to Compute the Pose of an Object Without a Direct View?

We consider the task of computing the pose of an object relative to a camera, for the case where the camera has no direct view of the object. This problem was encountered in work on vision-based inspection of specular or shiny surfaces, that is often based on analyzing images of calibration grids or other objects, reflected in such a surface. A natural setup consists thus of a camera and a calibration grid, put side-by-side, i.e. without the camera having a direct view of the grid. A straightforward idea for computing the pose is to place planar mirrors such that the camera sees the calibration grid’s reflection. In this paper, we consider this idea, describe geometrical properties of the setup and propose a practical algorithm for the pose computation.

• Type: Conference
• Year: 2006
• Where: ACCV
• Authors: Peter F. Sturm, Thomas Bonfort
• Keywords: ACCV 2006, Calibration Grid, Camera, Computer Vision, Direct View