Vision pose estimation from planar dual circles in a single image

A novel vision based pose estimation method for a single image with planar dual circles is addressed. We present a very simple formula to solve camera pose with a single circle, and then develop a fusion method to integrate solved poses of dual circles by using space geometry constraints. After that, a new definition of the difference quantity between two ellipses is proposed to evaluate reprojection errors of dual circles and determine the optimal and unique pose solution. Experiments with synthetic data and real images are carried out to validate the proposed method, and results show that the method has a high accuracy and good robustness.