Fast and Globally Convergent Pose Estimation from Video Images
IEEE Transactions on Pattern Analysis and Machine Intelligence
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Model-based object recognition commonly involves using a minimal set of matched model and image points to compute the pose of a model in image coordinates. This paper discusses how to compute the pose of a model from three corresponding points under ``weak-perspective'''' projection. A new solution to the problem is proposed which, like previous solutions, involves solving a biquadratic equation. Here the biquadratic is motivated geometrically, and its solutions are interpreted graphically. The final equations take a new form, which lead to a simple expression for the image position of any unmatched model point.