3D Pose Estimation in Projection Space via Pixel-level Visible Light Communication
3D Pose Estimation in Projection Space via Pixel-level Visible Light Communication
This research introduces a method for real-time 3D pose estimation using pixel-level visible light communication (PVLC) embedded in projected imagery, enabling accurate alignment between projectors and devices without external sensing infrastructure. By formulating the problem as a Perspective-n-Point (PnP) task using four coplanar photosensors, the system achieves approximately 8 ms latency and 19.2 mm RMSE after Kalman filtering, marking the first realization of real-time 3D pose estimation coordinated with high-quality projected content for aerial robots.
The authors present a method for real-time 3D pose estimation using pixel-level visible light communication embedded in projected imagery, solving the PnP problem to extend flat-surface tracking to aerial robots with reported latency of approximately 8 ms and position RMSE of 19.2 mm after Kalman filtering.
Source: arXiv Robotics — research abstracts · Read original article ↗
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latency
≈8
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imation to three dimensions, we formulate it as a Perspective-n-Point (PnP) problem. The 2D pixel positions that four coplanar photosensors on the device receive via PVLC serve as the image points, and their known 3D layout provides the object points. Experiments show that the proposed system estimates 3D pose with a latency of approximately 8~ms and a 3D position RMSE of 19.2~mm after Kalman filtering. These results
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19.2
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imation to three dimensions, we formulate it as a Perspective-n-Point (PnP) problem. The 2D pixel positions that four coplanar photosensors on the device receive via PVLC serve as the image points, and their known 3D layout provides the object points. Experiments show that the proposed system estimates 3D pose with a latency of approximately 8~ms and a 3D position RMSE of 19.2~mm after Kalman filtering. These results
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imation to three dimensions, we formulate it as a Perspective-n-Point (PnP) problem. The 2D pixel positions that four coplanar photosensors on the device receive via PVLC serve as the image points, and their known 3D layout provides the object points. Experiments show that the proposed system estimates 3D pose with a latency of approximately 8~ms and a 3D position RMSE of 19.2~mm after Kalman filtering. These results
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rnal sensing infrastructure by embedding invisible spatial codes into each projected pixel through high-speed brightness modulation that preserves image quality. However, the information that PVLC transmits is inherently planar. PVLC has therefore been limited to devices moving on a flat surface and cannot estimate the 3D pose of devices in three-dimensional space, such as aerial robots. To extend PVLC-based pose est
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confirm the first realization of real-time 3D pose estimation coordinated with high-quality projected image content without external sensing infrastructure.
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arXiv:2611.06121v1 Announce Type: new Abstract: Projector-based augmented reality enables natural interaction between users and devices by overlaying digital information onto the physical world through projected imagery. A key technical requirement of such systems is accurate positional alignment between the projector and the devices. Pixel-level Visible Light Communication (PVLC) achieves this alignment without exte
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3D Pose Estimation in Projection Space via Pixel-level Visible Light Communication
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Source：arXiv Robotics — research abstracts · arxiv.org