In this article we discuss the 2D-3D pose estimation problem of 3D free-form surface models. In our scenario we observe free-form surface models in an image of a calibrated camera. Pose estimation means to estimate the relative position and orientation of the 3D object to the reference camera system. The object itself is modelled as a twoparametric surface model which is represented by Fourier ...

The fully automatic and reliable calculation of the relative camera pose from image correspondences is one of the challenging tasks in photogrammetry and computer vision. The problem has not been solved satisfactorily, e.g. in case of critical camera motions or when observing special point configurations. Furthermore, some methods provide multiple solutions for the relative orientation. In this...

Relative pose estimation is a fundamental problem in computer vision and it has been studied for conventional global shutter cameras for decades. However, recently, a rolling shutter camera has been widely used due to its low cost imaging capability and, since the rolling shutter camera captures the image line-by-line, the relative pose estimation of a rolling shutter camera is more difficult t...

In this paper we present a new robust camera pose estimation approach based on 3D lines features. The proposed method is well adapted for mobile augmented reality applications We used an Extended Kalman Filter (EKF) to incrementally update the camera pose in real-time. The principal contributions of our method include first, the expansion of the RANSAC scheme in order to achieve a robust matchi...

In this article we discuss the 2D-3D pose estimation problem of deformable 3D free-form contours. In our scenario we observe objects of any 3D shape in an image of a calibrated camera. Pose estimation means to estimate the relative position and orientation of the 3D object to the reference camera system. The object itself is modeled as free-form contour. The fusion of modeling free-form contour...

Human perception shows that a correct interpretation of a 3D scene on the basis of a 2D image is possible without markers. Solely by identifying natural features of different objects, their locations and orientations on the image can be identified. This allows a three dimensional interpretation of a two dimensional pictured scene. The key aspect for this interpretation is the correct estimation...

The n-point perspective pose estimation problem (PnP) is a well studied topic in computer vision. PnP seeks to estimate the camera position and orientation (pose) from n ≥ 3 known points in the scene. In this technical report, we present a practical guide for directly computing all solutions of PnP, by optimally solving a non-linear least-squares cost function for the camera pose.