Object Pose: Links Between Paraperspective and Perspective

Recently, Dementhon 0 Davis [2] proposed a method for determining the pose of a 3-0 object with respect to a camera from 3-D to 2 0 point correspondences. The method consists of iteratively improving the pose computed with a weak perspective camera model to converge, at the limit, to a pose estimation computed with a perspective camera model. In this paper we show that the method of Dementhon €4 Davis can be extended to paraperspective. The i terative paraperspective pose algorithm that we describe an detail an this paper has interesting properties both in terms of speed and mte of convergence. Moreover, we introduce a simple way of taking into account the orthogonality constmint associated with the rotation matrax and we define the optimal experimental setup to be used in the presence of camem calibration err0 rs .