Three-dimensional location estimation of circular features for machine vision

@article{SafaeeRad1992ThreedimensionalLE,
  title={Three-dimensional location estimation of circular features for machine vision},
  author={Reza Safaee-Rad and Ivo Tchoukanov and Kenneth C. Smith and Beno Benhabib},
  journal={IEEE Trans. Robotics Autom.},
  year={1992},
  volume={8},
  pages={624-640}
}
A closed-form analytical solution to the problem of 3D estimation of circular-feature location is presented. Two different cases are considered: 3D orientation and position estimation when the radius is known and when it is not known. Extension of the method to general 3D quadratic features is also addressed. Simulated experimental results obtained for all three cases verified the analytical method. In the case of real experiments, a set of circles located on a calibration plate, whose… 
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