From the pose estimation slides (chapter iv 10-pose estimation) Problem f= focal length. Assume for pose{RT}θ=[1a2@TT写 Formulation T, T,, T, are translations along,Y, Z axes repectively (@i, a )are rotation angles around X, Y, Z axes respectively, M,=x, y zI is the i model point(i =1, 2, N), *=u, v] the image point of P, rewrite(la),1(b) F1X1+n121+1321+T1 与X,+12+h32+F,(,M) -(2a) F21X1+2+r2321+72 v;h+r2y+n32+r8,(O,M) -(2b In this chapter Problem definition: There are t=1, 2, Iimage frames, and the object i=1, 2,.N features Asume the pose 0,=1.2.r=/91,92,B3, T,T2,T]i and image measurements xi. v,I are known SFM2 task: From the given image frames and pose 8, 12r Find Ml2N=x, Y ZP Pose estimation vo.aProblem Formulation • Pose estimation V0.a 8     ( )         i N T i N i i i t , ,..,Γ T i,t i i t T t , ,..,Γ t v i i i i i i i i i u i i i i i i i i i i T i i i T th i i i i T M X Y Z θ x u v θ [ , , ,T ,T ,T ] g M b r X r Y r Z T r X r Y r Z T v f g M a r X r Y r Z T r X r Y r Z T u f P M X Y Z i x u v T T T f R,T θ T T T 1,2,.. 1,2,.. 1 2 1 2 1 2 3 1 2 3 , 31 32 33 3 21 22 23 2 , 31 32 33 3 11 12 13 1 1 2 3 1 2 3 1 2 3 1 2 3 Find SFM2 task :From the given image frames and pose and image measurements are known. Asume the pose , the object i 1,2,..., N features Problem definition :There are t 1,2,, image frames, and ---------------In this chapter -------------------------- ( , ) (2 ) ( , ) (2 ) the image point of , rewrite (1a),1(b) is the model point (i 1,2,, N), is , , are rotation angles around X,Y,Z axesrespectively, , , are translations along X,Y,Z axesrepectively, focal length.Assume for pose From the pose estimation slides(chapter iv10 - pose estimation): = = = = = = = = =  = − − − − − − − − + + + + + + = = − − − − − − − − + + + + + + = = = = = =           