Intro) I Motivation I Pose est. I Newton's method I Iterative method Define the terms 3 D Model=X1=ⅨXyZ7 where i=feature index X=2=[92,126209] 1 2.N features X can be found by manual Xi=1=[102, 18,23 measurement Pose 6t is the Rotation(R) and Translation(t)of the object at a time t, where u= horizontal image position 3x3/3x1t v=vertical image position gti= lu,v] is the image point of the ith 3D feature at time t Pose estimation vo.aIntro. | Motivation | Pose est.| Newton’s method | Iterative method Define the terms 3 • 3D Model=Xi =[X,Y,Z]i T : where i=feature index =1,2…N features. • X can be found by manual measurement • Pose  t is the Rotation (R) and Translation (T) of the object at a time t, where t={R3x3,T3x1} t • q t i = [u,v] t i is the image point of the i th 3D feature at time t Xi=1=[102,18,23]T X Y Z Xi=2=[92,126,209]T u= horizontal image position, v=vertical image position Pose estimation V0.a