Intro. MOtivation) Pose est. I Newton's method I Iterative method The iterative SFM alternating(2-stepbundle adjustment Break down the system into two phases SM1: find pose estimation phase --SFM2: find model estimation phase Initialize first guess of model The first guess is a flat model perpendicular to the image and is Zinit away ( e. g. Zinit =0. 5 meters or any reasonable guess) Iterative while( err is not small SFM1: find pose phase SFM2 find model phase Measurement error(Error(model and pose stabilized Pose estimation vo.a 8Intro. | Motivation | Pose est.| Newton’s method | Iterative method The iterative SFM alternating (2-step)bundle adjustment • Break down the system into two phases: --SFM1: find pose estimation phase --SFM2: find model estimation phase • Initialize first guess of model – The first guess is a flat model perpendicular to the image and is Zinit away (e.g. Zinit = 0.5 meters or any reasonable guess) • Iterative while ( Err is not small ) • { – SFM1: find pose phase – SFM2: find model phase – Measurement error(Err) or(model and pose stabilized) • } Pose estimation V0.a 8