Pose Estimation using ∞ L
نویسنده
چکیده
A method is presented for estimating the pose (position & orientation) of a camera based on a set of correspondences between world space and camera space by decomposing the problem into orientation estimation and triangulation. Both of these steps can be proven to be globally convergent which allows fast and accurate estimation. Furthermore, the pose estimation works in full projective space, preserves the full orthonormality of the rotation matrix does not make any assumptions about the co-planarity of the points and provides an elegant method of doing outlier removal. Experiments show that the presented method of pose estimation is more accurate than currently available schemes and is fast enough to run in real time.
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