CMSC5711: Exercise 11. 1: (Note: f= focal length) Given u;=gu(@1, P2,23,Ti, T2, T3,Xi,Y, Zi) F1X1+121+F1321+7 R f≈f B3Y+o2zi+ rX.tr.t +t 33 2X1+ny1+Z1+ Son1≈12≈-的,73 r31≈-n22≈,3 ≈1.Or 2 m的 R 33 21 Find Xtr.trz+t X R Xtr.trz R 33 +T, aZ aZ aZ Pose estimation vo.aCMSC5711: Exercise11.1: (Note: f= focal length) • Pose estimation V0.a 10 ? Find 1 1 1 R , , 1, so 1, , Given ( , , , , , , , , ) 3 1 3 2 3 3 3 1 1 1 2 1 3 1 2 1 3 1 3 2 3 1 3 2 3 3 2 1 2 2 2 3 1 1 1 2 1 3 3 1 2 3 2 1 3 3 1 1 1 2 3 1 3 2 2 1 3 3 2 1 3 1 3 2 3 3 3 1 1 1 2 1 3 1 1 2 3 1 2 3 =           =          + + + + + +  =             − − −            =  −     −  − + + + − + + =  + + + + + + = = = Z Z X f Z r X r Y r Z T r X r Y r Z T f Z u r r r r r r r r r r r r or r r r X Y Z T X Y Z T f Z X f r X r Y r Z T r X r Y r Z T f u g T T T X Y Z R i R i i i i i i i i i i i i i i R i R i i i i i i i i u i i i                 