Pose Estimation for Camera Calibration and Landmark Tracking1

Pose estimation is an important operation for many robotic tasks such as camera calibration and landmark tracking. In this paper, we propose a new algorithm of pose estimation based on the volume measurement of tetrahedra composed of feature-point triplets extracted from an arba’trmy quadrangular target and the lenscenter of the vision system. This method has been tested using synthetic and real data; it is efficient, accurate, and robust. Its speed, in particular, makes it a potential candidate for real-time robotic tasks.