Recall in pose estimation SFM1: a slide in ch. iv10: pose estimation For each frame t, we have N correspondence points, i=1,, N, stack the matrix relations The formulas apply to one frame at time t. There are E j=1.2. N features T1 e=N」2Nx each time t, e, is found NJ2N×6 ·SFM1 willt times,each T-T time is independent YXXX+ZZ P+221 -内 X E - X XX+Z 12-72 Yy+zz ( At time t there are Put the Jacobin J △= N features -7 21 E Jw xe Pose estimation VO.aRecall in pose estimation SFM1: a slide in ch.iv10: pose estimation Pose estimation V0.a 21 ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) ( ) * (7) ~ ~ ~ ~ ~ ~ Put the Jacobain : , (6) ~ ~ ~ ~ ~ ~ 0 0 : 0 0 ~ ~ ~ ~ ~ ~ : ~ ~ : ~ ~ : For each frame t, we have N correspondence points, i 1,, N,stack the matrix relations 2 1 2 6 6 1 3 3 2 2 1 1 3 3 2 2 1 1 2 6 1 3 3 6 1 2 2 1 1 3 3 2 2 1 1 2 6 2 2 2 2 2 2 1 2 2 2 2 2 2 2 1 3 3 6 1 2 2 1 1 3 3 2 2 1 1 2 6 1 2 1 1 1 1 1 2 1 1 2 1 6 1 =  − − − − − − − − − − − − − − − − − − − − − − − − − − − − − − − − − − − −     − − − − − −  =       = − −     − − − − − −           − + − − − + −     − + − − − + − =     − − − − − −       =           − −       − − =       = =    =  =   = =   =  =  = = = = = = = = =  =                       N N i N N i N i N R i R i R i R i i R i i R i R i R i i R i i R i R i R i R i i R i R i i R i i R i R i i i R i R i R i R i i R i i R i R i R i i R i i R i R i R i R i i R i R i i R i i R i R i i N i N N i N i N i N i N i N i i i i i N N i N E J T T T T T T j j J T T T T T T Z Y f Z f ZX f Z Y X f Z YY Z Z f ZX f Z f Z Y f Z X X Z Z f Z Y X f Z Y f Z f ZX f Z Y X f Z YY Z Z f ZX f Z f Z Y f Z X X Z Z f Z Y X f E T T T T T T j j v v u u v v u u e e E • At time t, there are N features • The formulas apply to one frame at time t. There are i=1,2,…N features. • each time t, t is found. • SFM1 will  times, each time is independent