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

摘要

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