TY - CONF A1 - Becke, Mark A2 - Liu, Honghai A2 - Kubota, Naoyuki A2 - Zhu, Xiangyang A2 - Dillmann, RĂ¼diger T1 - On Modeling and Least Squares Fitting of Cylinders from Single and Multiple Views Using Contour Line Features T2 - Intelligent Robotics and Applications N2 - In this paper, a new method for a minimum-error pose estimation of cylinder axes based on apparent contour line features from multiple views is presented. Novel model equations for both single and particularly multiple views are derived, and based upon these, an algorithm for least squares fitting the model to imaged cylinder contour line features is introduced. The good performance of the proposed algorithm is shown by solving an exemplary fitting problem. KW - Apparent contour KW - Computer vision KW - Least squares fitting KW - Multiple view geometry KW - Straight Homogeneous Circular Cylinder Y1 - 2015 UR - https://opus4.kobv.de/opus4-oth-regensburg/frontdoor/index/index/docId/3995 SN - 978-3-319-22872-3 VL - 9246 SP - 372 EP - 385 PB - Springer CY - Cham ER -