relating the coordinates of the vertex A and its projection a with the direction cosines: In this paper we model the camera-polygon system with parametric equations to locate a polygonal object in space. cosa. = J -This leads to a nonlinear optimization method under true X +YO +fa perspective for monocular vision with a single image. The algorithm finds directly the 3D location in the camera co-cos p. = d -' ordinate system without estimating rotation and/or X, +Yo +fa translation matrices. As

more »

... or all object location algorithms, the method assumes that the size and shape of the polygo-f nal object is known and that the camera is calibrated.