Model Based Pose Estimation Using SURF

Estimation of a camera pose (position and orientation) from an image, given a 3d model of the world, is a topic of great interest in many current fields of research. When aiming for a model based pose estimation approach, several questions arise: What is the model? How do we acquire a model? How is the image linked to the model? How is a pose computed and verified using the latter information? In this paper we present a new approach towards model based pose estimation based solely on SURF features. We give a formal definition of our model, show how to build such a model from image data automatically, how to integrate two partial models, and how pose estimation for new images works.