A Comparison of Iterative 2D-3D Pose Estimation Methods for Real-Time Applications

Authors:
Daniel Grest;Thomas Petersen;Volker Krüger
Affiliations:
Computer Vision Intelligence Lab, Aalborg University Copenhagen, Denmark;Computer Vision Intelligence Lab, Aalborg University Copenhagen, Denmark;Computer Vision Intelligence Lab, Aalborg University Copenhagen, Denmark
Venue:
SCIA '09 Proceedings of the 16th Scandinavian Conference on Image Analysis
Year:
2009

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Abstract

This work compares iterative 2D-3D Pose Estimation methods for use in real-time applications. The compared methods are available for public as C++ code. One method is part of the openCV library, namely POSIT. Because POSIT is not applicable for planar 3D-point configurations, we include the planar POSIT version. The second method optimizes the pose parameters directly by solving a Non-linear Least Squares problem which minimizes the reprojection error. For reference the Direct Linear Transform (DLT) for estimation of the projection matrix is inlcuded as well.