Estimation of Position and Orientation from Image Sequence of a Circle

Abstract

A method to estimate the relative position and orientation of a camera to a circle having unknown radius is presented. In landing approach of a helicopter, the human pilot estimate his position and orientation relative to the landing site by observing the mark drawn on the heliport. The proposed method is formulated on the framework of the recursive estimation process using an image sequence of a circle that is a part of the heliport marking. The experiments were made both with the synthetic data and with the real image sequence taken in the laboratory for investigating the accuracy of the proposed method.