Evaluation of a pose estimation algorithm using single perspective view
T Bharath Chandra, Mongi A. Abidi · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 1991
In [1 we have introduced a new pose eslimalion algoriihm based on a ierahedravolume measuremeni meihod. In This paper we preseni an exiended iheorelical and experinienal evalualion of This algorithm. The pose esimaion iechnique exploits ihe redundancy in the georneric informaiion inherent in the daia io minimize errors in Ihe recovery of the pose of a vision system. The resuUs of This study show among other Things ha errors in the pose recovery are sensiiive io he exact coordinales of image poinis. These errors increase drasiically as the camera is moved awayfrom the argeL To correciforihis sensiiviy an enhanced version ofihis algoriihm based on image/shape resoraion is introduced. This enhancement ulilizes a Conjugate Gradieni based lechnique io minimize the effect of errors inhereni in he image daia. This enhanced technique is lesied on images of synihelic daia and of real world scenes. These experimenis show Thai a significant improvemeni of he solulion o The pose can be achieved by this technique. 1