Adaptive pose estimation for different corresponding entities

Abstract

This paper concerns the 2D-3D pose estimation problem for different corresponding entities. Many articles concentrate on specific types of correspondences (mostly point, rarely line correspondences). Instead, in this work we are interested to relate the following image and model types simultaneously: 2D point/3D point, 2D line/3D point, 2D line/3D line, 2D conic/3D circle, 2D circle/3D sphere. Furthermore, to handle also articulated objects, we describe kinematic chains in this context in a similar manner. We further discuss the use of weighted constraint equations, and different numerical solution approaches. © Springer-Verlag Berlin Heidelberg 2002.