Camera Pose Estimation

Camera pose estimation is the problem of determining the geometric transformation

between the world coordinate system and the camera coordinate system. This

transformation is represented by a 3 × 4 matrix, consisting of a 3 × 3 rotation matrix

and a translation vector as shown in Eq. (2).

螢幕快照 2016-05-27 下午3.04.00(2)
They are called the external (extrinsic) camera parameters. Pose estimation is obtained from 2D-3D correspondences using

a solution to Perspective-n-Point (PnP) problem . It is about the estimation of

the pose of a calibrated camera, given n (n ≥ 3) 3D reference points in the object

framework and their corresponding 2D projections. This estimation should be

accurate enough for correct augmentation.

The Projection of a 3D point in the world coordinate system to a 2D point in the

camera coordinate system is obtained by Eq. (3). Both points are expressed in

homogeneous coordinates according to a pinhole calibrated camera model.

螢幕快照 2016-05-27 下午3.04.12(3)
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