Hybrid Method for Solving New Pose Estimation Equation System

Camera pose estimation is the problem of determining the position and orientation of an internally calibrated camera from known 3D reference points and their images. We introduce a new polynomial equation system for 4-point pose estimation and apply our symbolicnumeric method to solve it stably and efficiently. In particular, our algorithm can also recognize the points near critical configurations and deal with these near critical cases carefully. Numerical experiments are given to show the performance of the hybrid algorithm.