Pose estimation from multiple cameras based on Sylvester's equation

13 years 4 months ago

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In this paper, we introduce a method to estimate the object's pose from multiple cameras. We focus on direct estimation of the 3D object pose from 2D image sequences. Scale-Invariant Feature Transform (SIFT) is used to extract corresponding feature points from adjacent images in the video sequence. We first demonstrate that centralized pose estimation from the collection of corresponding feature points in the 2D images from all cameras can be obtained as a solution to a generalized Sylvester's equation. We subsequently derive a distributed solution to pose estimation from multiple cameras and show that it is equivalent to the solution of the centralized pose estimation based on Sylvester's equation. Specifically, we rely on collaboration among the multiple cameras to provide an iterative refinement of the independent solution to pose estimation obtained for each camera based on Sylvester's equation. The proposed approach to pose estimation from multiple cameras rel...

Chong Chen, Dan Schonfeld

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