Object Pose: Links Between Paraperspective and Perspective

Radu Horaud 1, 2 Stéphane Christy 1, 2 Fadi Dornaika 1, 2 Bart Lamiroy 1, 2
1 MOVI - Modeling, localization, recognition and interpretation in computer vision
GRAVIR - IMAG - Graphisme, Vision et Robotique, Inria Grenoble - Rhône-Alpes, CNRS - Centre National de la Recherche Scientifique : FR71
Abstract : Recently, Dementhon & Davis [2] proposed a method for determining the pose of a 3-0 object with respect to a camera from 3-D to 2-0 point correspondences. The method consists of iteratively improving the pose computed with a weak perspective camera model to converge, at the limit, to a pose estimation computed with a perspective camera model. In this paper we show that the method of Dementhon & Davis can be extended to paraperspective. The iterative paraperspective pose algorithm that we describe an detail an this paper has interesting properties both in terms of speed and rate of convergence. Moreover, we introduce a simple way of taking into account the orthogonality constmint associated with the rotation matrix and we define the optimal experimental setup to be used in the presence of camera calibration errors .
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Radu Horaud, Stéphane Christy, Fadi Dornaika, Bart Lamiroy. Object Pose: Links Between Paraperspective and Perspective. 5th International Conference on Computer Vision (ICCV '95), Jun 1995, Cambridge, United States. pp.426--433, ⟨10.1109/ICCV.1995.466908⟩. ⟨inria-00590052⟩

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