POSE DETERMINATION FROM LINE-TO-PLANE CORRESPONDENCES - EXISTENCE CONDITION AND CLOSED-FORM SOLUTIONS

Pose determination involves finding the position and orientation of an object with respect to a known coordinate frame. This paper considers a class of pose determinatiSon problems in which the sensory data are lines and the corresponding reference data are planes. The lines discussed here are different from edge lines in that they are not the intersection of boundary faces of the object. We describe a polynomial approach that, unlike previous methods, does not require a priori knowledge about the object location. Closed form solutions for orthogonal, parallel, and coplanar feature configurations of critical importance in real applications are derived. We also describe new findings concerning the necessary and sufficient conditions under which the line-to-plane pose determination problem can be solved.