Intro.MotivationPoseest.Newton's method| Iterative method Motivation of studying pose estimation In order to understand bundle adjustment for 3-d model structure reconstruction from -frames, we need to understand pose estimation first Pose estimation problem definition there are n features in a known 3D object For pose estimation We take / pictures of the object at different views.(Assume object stationary, camera moving at time t=12…,F Input We know there are n 3-d model points of the object: X,Y, Z)12. N and Image sequence I,I2,Ir: Each image has N 2-D image feature points Output (pose=rotation and translation the camera) 0,1=(R Tt1, 2=(R=,.,0 =[ R, Tt=r poses are found Pose estimation vo.a 6Intro. | Motivation | Pose est.| Newton’s method | Iterative method Motivation of studying pose estimation • In order to understand bundle adjustment for 3-D model structure reconstruction from  -frames, we need to understand pose estimation first. • Pose estimation problem definition: There are N features in a known 3D object . • For pose estimation: We take  pictures of the object at different views. (Assume object stationary, camera moving at time t=12,..,  . • Input : • We know there are N 3-D model points of the object : (X, Y, Z)1,2,..,N, and • Image sequence I1 ,I2 ,…I. Each image has N 2-D image feature points • Output (pose=rotation and translation the camera) • t=1={R,T} t=1 , t=2={R,T} t=2 , …., t=={R,T} t=  poses are found Pose estimation V0.a 6