Derivation for the model partial derivatives(note f= focal length en=g,(9,,,,T,T,x,,2)= Given u=81(,,,7,7,T,Xx,F,2)= D2z +T x+1+2+=2/-x++乙++n=若=厂 X1-3Y1+中21+7 r31 r321+73 n2X1+1+21+73 112 1 1≈1,2≈-g3,1≈2 R=r 1 31≈-n2,32≈内, Find I Find aX F1X1+F21+132+7 F1X1+F2x1+13z1+T r31X1+ry21+32z1+73 r,X+PY+、Z+T Y aX aX aX (xA)1 X ar aX aX o(x2) a(rr )f az ay ar Z aZ. aX OX Z X+r (z X (z) ZR ation vo.aDerivation for the model partial derivatives (Note: f= focal length) • Pose estimation V0.a 9 ( ) ( ) ( ) ( ) ( )         = − +         = − +         = −   +           =   +         =         =        + + + + + +  =               − − −            = − + + + − + + =  + + + + + + = = = 2 1 1 3 1 1 1 2 3 1 2 3 1 1 1 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 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 1 1 Find . 1 1 1 R Given ( , , , , , , , , ) R i i R i R i R i R i R i R i R i R i R R i i R i R i R i R i R R i i R i R i R i 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 Z r X Z r f Z r f Z r X f Z f r X r Z f Z f X X X X Z Z Z f X Z f X X X Z f X Z X f X r X r Y r Z T r X r Y r Z T f X u X u r r r r r r 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              ( ) ( ) ( ) ( ) ( )         = − +         = − +         = −   +           =   +         =         =        + + + + + +  =      −     −  − + + + − + + =  + + + + + + = = = 2 1 2 3 2 1 2 2 3 2 2 3 2 1 2 3 1 3 2 3 3 3 1 1 1 2 1 3 1 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 1 1 Find . , , 1 so 1, , Given ( , , , , , , , , ) R i i R i R i R i R i R i R i R i R i R R i i R i R i R i R i R R i i R i R i R i 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 Z r X Z r f Z r f Z r X f Z f r X r Z f Z f Y X X Y Z Z Z f Y Z f X X Y Z f Y Z X f Y r X r Y r Z T r X r Y r Z T f Y u Y u r r r 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           