Position and orientation estimation of palm based on mark points

In this paper, we propose a vision-based method to estimate the pose (position and orientation) of the palm. Two sub-problems were solved in this study. One is to obtain the correspondence of the four coplanar mark points on the target object. The other is to estimate the position and orientation of the palm in the camera coordinate system. The position and orientation of the palm in the camera coordinate system can be derived by the geometric relation, which can be transformed the pose estimation problem into a Perspective-n-Point (PnP) problem. Dog-Leg (DL) algorithm is adopted to solve the PnP problem to get a higher processing speed. An experiment is conducted to verify the effectiveness of the proposed methods. The experimental results demonstrate that proposed method can obtain the position and orientation accurately and the DL algorithm can be used to solve the P4P problem faster than an existing algorithm.