A Simple Algebraic Solution for Estimating the Pose of a Camera from Planar Point Features
This work addresses camera pose estimation for computer vision applications, presenting an incremental improvement with a hierarchical algebraic approach.
The paper tackles the problem of estimating camera pose from planar point features by proposing a simple algebraic method that first determines the target plane's normal vector, then the camera's position and orientation, and refines it with averaging for noise robustness. The result is validated through extensive experiments, showing improved accuracy and robustness.
This paper presents a simple algebraic method to estimate the pose of a camera relative to a planar target from $n \geq 4$ reference points with known coordinates in the target frame and their corresponding bearing measurements in the camera frame. The proposed approach follows a hierarchical structure; first, the unit vector normal to the target plane is determined, followed by the camera's position vector, its distance to the target plane, and finally, the full orientation. To improve the method's robustness to measurement noise, an averaging methodology is introduced to refine the estimation of the target's normal direction. The accuracy and robustness of the approach are validated through extensive experiments.