Formalization of camera pose estimation algorithm based on Rodrigues formula

DOI10.1007/S00165-020-00520-5MaRDI QIDQ826358zbMATH OpenOpenAlexFDO

Authors Shanyan Chen, Ximeng Li, Qianying Zhang, Zhiping Shi, Yong Guan, Guohui Wang

Publication date 4 January 2021

Published in Formal Aspects of Computing (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/s00165-020-00520-5

zbMATH Keywords

camera pose estimationformalizationHOL Lightleast squares methodRodrigues formula

Mathematics Subject Classification ID

Specification and verification (program logics, model checking, etc.) (68Q60) Artificial intelligence for robotics (68T40) Machine vision and scene understanding (68T45) Theorem proving (automated and interactive theorem provers, deduction, resolution, etc.) (68V15)

Recommendations

• Formal analysis of the kinematic Jacobian in screw theory
• Higher-order logic formalization of conformal geometric algebra and its application in verifying a robotic manipulation algorithm
• Formal kinematic analysis of a general 6R manipulator using the screw theory
• Computer Algebra and Geometric Algebra with Applications
• A Novel Pose Estimation Algorithm Based on Points to Regions Correspondence

Cites work

• A compact formula for rotations as spin matrix polynomials
• A novel linear algorithm for \(P5P\) problem
• A novel solution to the P4P problem for an uncalibrated camera
• Formal proof -- theory and practice
• scientific article; zbMATH DE number 3850933 (Why is no real title available?)
• scientific article; zbMATH DE number 821258 (Why is no real title available?)
• Modified Rodrigues parameters: an efficient representation of orientation in 3D vision and graphics
• Principal rotation representations of proper N N orthogonal matrices
• The HOL Light theory of Euclidean space

Cited in

(2)

• Verified interactive computation of definite integrals
• A framework for formal verification of robot kinematics

Describes a project that uses

Uses Software

• EPnP
• HOL Light
• GitHub

This page was built for publication: Formalization of camera pose estimation algorithm based on Rodrigues formula

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q826358)