Problem definition There are n features in the 3d object We takei pictures of the object at different VIews Input · Image sequence I2…lr Each image has n image feature points Output (structure=model, and motion=pose) 3-d coordinates of all 3-d model points x,x.X N Camera pose for each image taken [r()t(t)t=l, .T Pose estimation vo.aProblem definition • There are N features in the 3D object . • We take  pictures of the object at different views. • Input : • Image sequence I1 ,I2 ,…I  . • Each image has n image feature points • Output (structure=model, and motion=pose) • 3-D coordinates of all 3-D model points X1 ,X2 ,..,XN . • Camera pose for each image taken [R(t),T(t)] t=1,…  Pose estimation V0.a 3