3D-2D registration with foveated wide angle view

摘要

A method is proposed to estimate the position and pose of a camera by aligning a 3D model of its surrounding environment with an observed 2D image that is captured by a foveated wide-angle lens in the camera. Because of the wide field of view, the algorithm can converge even when the initial error is large, and the precision of the result is high since the resolution of the fovea is high.