6DOF pose measurement with dual-quaternion-introduced absolute orientation using a pseudo-multi-camera system

Area of Science:

• Robotics and Intelligent Systems
• Computer Vision
• Metrology

Background:

• Pose measurement (position and orientation) is crucial for intelligent manufacturing.
• Traditional multi-camera systems have limitations in complex or inaccessible environments.

Purpose of the Study:

• To present a novel six-degree-of-freedom (6DOF) pose measurement method.
• To enhance accuracy and stability in pose estimation, especially for translation.
• To enable pose measurement in scenarios where traditional multi-camera setups are infeasible.

Main Methods:

• A pseudo-multi-camera system is generated by moving a single camera.
• Dual-quaternion-introduced absolute orientation is used for 6DOF estimation.
• Multi-view bundle adjustment refines pose estimation using feature points.

Main Results:

• The proposed method demonstrates superior accuracy and stability compared to classical approaches.
• Translation measurement accuracy is significantly improved.
• The system dynamically adapts to complex measurement scenes by arranging observation points.

Conclusions:

• The dual-quaternion-based pseudo-multi-camera system offers a robust solution for 6DOF pose measurement.
• This technique is suitable for challenging applications like pipeline inspection and medical endoscopy.
• It provides a flexible alternative to traditional multi-camera systems.