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Pose Estimation

Pose Estimation. Prateek and Andrew. Introduction/Review. Given two views of 3D points, can we calculate the position of the cameras? Yes! Relative motion up to scale. Introduction/Review. Relative position between cameras is defined by:. R Rotation 3 DOF. t Translation 2 DOF*.

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Pose Estimation

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  1. Pose Estimation Prateek and Andrew

  2. Introduction/Review • Given two views of 3D points, can we calculate the position of the cameras? • Yes! • Relative motion up to scale

  3. Introduction/Review • Relative position between cameras is defined by: R Rotation 3 DOF t Translation 2 DOF* * Normally a translation vector would have 3 DOF but since the relative positions is known only up to scale, translation t supplies direction only and not magnitude.

  4. Essential Matrix • The relative position can be represented by the essential matrix: E = [t]x* R

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