Efficient decoupled pose estimation from a set of points - Inria - Institut national de recherche en sciences et technologies du numérique Access content directly
Conference Papers Year : 2013

Efficient decoupled pose estimation from a set of points


This paper deals with pose estimation using an iterative scheme. We show that using adequate visual infor- mation, pose estimation can be performed in a decoupling the estimation of translation and rotation. More precisely, we show that pose estimation can be achieved iteratively as a function of only three independent unknowns, which are the translation parameters. An invariant to rotational motion is used to estimate the camera position. Once the camera position is estimated, we show that the rotation can be estimated efficiently using a direct method. The proposed approach is compared against two classical 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.
Fichier principal
Vignette du fichier
2013_iros_tahri.pdf (474.99 Ko) Télécharger le fichier
Origin : Files produced by the author(s)

Dates and versions

hal-00851997 , version 1 (19-08-2013)


  • HAL Id : hal-00851997 , version 1


Omar Tahri, Helder Araujo, Youcef Mezouar, François Chaumette. Efficient decoupled pose estimation from a set of points. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'2013, Nov 2013, Tokyo, Japan. pp.1608-1613. ⟨hal-00851997⟩
367 View
244 Download


Gmail Facebook X LinkedIn More