Efficient Iterative Pose Estimation using an Invariant to Rotations

Abstract : This paper deals with pose estimation using an iterative scheme. We show that using adequate visual information, pose estimation can be performed iteratively with only three independent unknowns, which are the translation parameters. Specifically, an invariant to rotational motion is used to estimate the camera position. In addition, an adequate transformation is applied to the proposed invariant to decrease the nonlinearities between the variations in image space and 3-D space. Once the camera position is estimated, we show that the rotation can be estimated efficiently using two different direct methods. The proposed approach is compared against two other methods from the literature. The results show that using our method, pose tracking in image sequences and the convergence rate for randomly generated poses are improved.
Type de document :
Article dans une revue
IEEE Trans. on Cybernetics, IEEE, 2014, 22 (4), pp.199-207. 〈10.1109/TCYB.2013.2251331〉
Liste complète des métadonnées

Littérature citée [25 références]  Voir  Masquer  Télécharger

https://hal.inria.fr/hal-00840264
Contributeur : Eric Marchand <>
Soumis le : mardi 2 juillet 2013 - 14:31:30
Dernière modification le : mercredi 16 mai 2018 - 11:23:03
Document(s) archivé(s) le : jeudi 3 octobre 2013 - 04:07:52

Fichier

2013_tahri_cyb.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

Citation

Omar Tahri, Helder Araujo, Youcef Mezouar, François Chaumette. Efficient Iterative Pose Estimation using an Invariant to Rotations. IEEE Trans. on Cybernetics, IEEE, 2014, 22 (4), pp.199-207. 〈10.1109/TCYB.2013.2251331〉. 〈hal-00840264〉

Partager

Métriques

Consultations de la notice

512

Téléchargements de fichiers

376