Solving the Pose Ambiguity via a Simple Concentric Circle Constraint

Estimating the pose of objects with circle feature from images is a basic and important question in computer vision community. This 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. However, there are generally two possible sets of pose parameters. By introducing the concentric circle constraint, interference from 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. Experiments on these two cases are performed to validate the proposed method.