A Screw Motion Approach to Uniqueness Analysis of Head-Eye Geometry

Chen, Homer H.

doi:10.1109/CVPR.1991.139677

A Screw Motion Approach to Uniqueness Analysis of Head-Eye Geometry

Homer H. Chen

CVPR 1991 pp. 145-151

doi:10.1109/CVPR.1991.139677 /cvpr/1991/chen1991cvpr-screw/

Abstract

The screw motion theory is used to solve a class of pose determination problems that can be characterized by a homogeneous transform equation of the form AX=XB, where A and B are known motions and X is an unknown coordinate transformation. Unlike existing methods, this method gives rise to a sound geometric interpretation that takes both rotation and translation into consideration. The author derives a screw congruence theorem and shows that the problem is to find a rigid transformation which will bring one group of lines to overlap another. He also provides a complete analysis of the conditions under which the solution can be uniquely determined.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>

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Cite

Text

Chen. "A Screw Motion Approach to Uniqueness Analysis of Head-Eye Geometry." IEEE/CVF Conference on Computer Vision and Pattern Recognition, 1991. doi:10.1109/CVPR.1991.139677

Markdown

[Chen. "A Screw Motion Approach to Uniqueness Analysis of Head-Eye Geometry." IEEE/CVF Conference on Computer Vision and Pattern Recognition, 1991.](https://mlanthology.org/cvpr/1991/chen1991cvpr-screw/) doi:10.1109/CVPR.1991.139677

BibTeX

@inproceedings{chen1991cvpr-screw,
  title     = {{A Screw Motion Approach to Uniqueness Analysis of Head-Eye Geometry}},
  author    = {Chen, Homer H.},
  booktitle = {IEEE/CVF Conference on Computer Vision and Pattern Recognition},
  year      = {1991},
  pages     = {145-151},
  doi       = {10.1109/CVPR.1991.139677},
  url       = {https://mlanthology.org/cvpr/1991/chen1991cvpr-screw/}
}