Exercise11. 2: proves these partial derivatives: (Note: f= focal length) R 偿 R R R V Pose estimation vo.aExercise11.2: proves these partial derivatives: (Note: f= focal length) Pose estimation V0.a • 11 ( ) ( ) ( ) ( ) ( ) ( )       = −         = −         = −         = −         = −         = −   2 23 33 2 22 32 2 21 31 2 13 33 2 12 32 2 11 31 R i R i R i i i R i R i R i i i R i R i R i i i R i R i R i i i R i R i R i i i R i R i R i i i Z r X Z r f Z v Z r X Z r f Y v Z r Y Z r f X v Z r X Z r f Z u Z r X Z r f Y u Z r X Z r f X u