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. This paper presents a pose estimation method for planar mirror based on a one-dimensional (1-D) target. First, a 1-D target is maneuvered in front of a camera so as to allow the camera to capture several images of both the original and virtual feature points on the target. Next, the normal vector of the mirror and the distance between the mirror and the camera are calculated by a closed-form method. Last, a nonlinear optimization is used to refine the closed-form solution by minimizing the reprojection error of reflection projection. Synthetic data and real experiments show that the proposed method is accurate and reliable. The proposed method is simple and flexible. No prior information about the target motion and camera pose is assumed. A minimum of two nonparallel target positions are required. It is suitable for the pose estimation of planar mirrors, especially when they are in fixed positions. We can find the posture of the fixed camera according to the normal vector of the plane mirror.

Pose estimation method for planar mirror based on one-dimensional target