REAL TIME POSE ESTIMATION OF A CAMERA USING LASER SCANNED DATA

The problem of camera pose determination is often referred to using various terms, such as: the determination of camera location and orientation, pose refinement, perspective inversion and model alignment. An investigation has been undertaken at UWE, Bristol into various methods for the determination of the exterior orientation of a camera. The work presented here forms part of a research project concerned with the development of a novel, low-cost hand held 3D data acquisition device. Laser-scanned data is used for both real time camera orientation estimation and 3D data acquisition. The orientation of the camera (i.e. pitch, roll) is determined using range data obtained from laser triangulation and laser line inclination in the image plane. One of the advantages of this technique is that it does not require any external devices. The limitation of the current technique is that it cannot estimate camera yaw, as both the camera and the laser are rotated together. Although this may prove insignificant if object 3D data can be acquired in a single view, the longer-term objective is to merge data from multiple views. The goal of this project is to develop a hand-held scanner where low-cost