Nakano: Globally Optimal Dls Method for Pnp Problem
نویسنده
چکیده
This paper proposes a globally optimal direct least squares (DLS) method for the PnP problem with Cayley parameterization. First we derive a new optimality condition without Lagrange multipliers, which is independent of any rotation representations. Then, we show that the new equation can be solved by several types of parameterizations and among them, Cayley parameterization is the most efficient. According to the experimental results, the proposed method represented by Cayley parameterization is more than three times faster than the state-of-the-art method while maintaining equivalent accuracy.
منابع مشابه
Globally Optimal DLS Method for PnP Problem with Cayley parameterization
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