A new solution of ambiguity in pose estimation of circle feature using a concentric circle constraint

The paper is focused on the ambiguity problem in pose estimation of circle feature and a new method is proposed based on the concentric circle constraint. The pose of a single circle feature, in general, can be determined from its projection in the image plane with a pre-calibrated camera, but there are generally two possible sets of pose parameters. By introducing the concentric circle constraint, interference of the false solution can be excluded. On the basis of element at infinity in projective geometry and the Euclidean distance invariant, cases that concentric circles are coplanar and non-coplanar are discussed respectively. Extensive experiments on these two cases are carried out to validate the proposed method.